diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_11-40-8_1454580282/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_11-40-8_1454580282/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..09b4ffb3034435006cdfa682c3b399d3259bf017 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_11-40-8_1454580282/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1660.3022179014943, + -438.0903489184181, + 15.973275718220407 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1657.704141690141, + -436.5903489184181, + 15.973275718220407 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1655.1060654787875, + -435.0903489184181, + 15.973275718220407 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1652.5079892674341, + -433.5903489184181, + 15.973275718220407 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1649.9099130560808, + -432.0903489184181, + 15.973275718220407 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1647.3118368447274, + -430.5903489184181, + 15.973275718220407 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1644.713760633374, + -429.0903489184181, + 15.973275718220407 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1642.1156844220206, + -427.5903489184181, + 15.973275718220407 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1639.5176082106673, + -426.0903489184181, + 15.973275718220407 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1636.919531999314, + -424.5903489184181, + 15.973275718220407 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1634.3214557879605, + -423.0903489184181, + 15.973275718220407 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1631.7233795766072, + -421.5903489184181, + 15.973275718220407 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1629.1253033652538, + -420.0903489184181, + 15.973275718220407 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1626.5272271539004, + -418.5903489184181, + 15.973275718220407 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1623.929150942547, + -417.0903489184181, + 15.973275718220407 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1621.3310747311937, + -415.5903489184181, + 15.973275718220407 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1618.7329985198403, + -414.0903489184181, + 15.973275718220407 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1616.134922308487, + -412.5903489184181, + 15.973275718220407 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1613.5368460971335, + -411.0903489184181, + 15.973275718220407 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1610.9387698857802, + -409.5903489184181, + 15.973275718220407 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1608.3406936744268, + -408.0903489184181, + 15.973275718220407 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1605.7426174630734, + -406.5903489184181, + 15.973275718220407 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1603.14454125172, + -405.0903489184181, + 15.973275718220407 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1600.5464650403667, + -403.5903489184181, + 15.973275718220407 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1597.9483888290133, + -402.0903489184181, + 15.973275718220407 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1595.35031261766, + -400.5903489184181, + 15.973275718220407 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1592.7522364063066, + -399.0903489184181, + 15.973275718220407 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1590.1541601949532, + -397.5903489184181, + 15.973275718220407 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1587.5560839835998, + -396.0903489184181, + 15.973275718220407 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1587.5560839835998, + -396.0903489184181, + 15.973275718220407 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1586.0560839835998, + -393.4922727070648, + 15.973275718220407 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1584.5560839835998, + -390.89419649571147, + 15.973275718220407 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1583.0560839835998, + -388.29612028435815, + 15.973275718220407 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1581.5560839835998, + -385.69804407300484, + 15.973275718220407 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1580.0560839835998, + -383.0999678616515, + 15.973275718220407 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1578.5560839835998, + -380.5018916502982, + 15.973275718220407 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1577.0560839835998, + -377.9038154389449, + 15.973275718220407 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1575.5560839835998, + -375.3057392275916, + 15.973275718220407 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1574.0560839835998, + -372.70766301623826, + 15.973275718220407 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1572.5560839835998, + -370.10958680488494, + 15.973275718220407 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1571.0560839835998, + -367.5115105935316, + 15.973275718220407 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1569.5560839835998, + -364.9134343821783, + 15.973275718220407 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1569.5560839835998, + -364.9134343821783, + 15.973275718220407 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1566.9580077722464, + -363.4134343821783, + 15.973275718220407 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1564.359931560893, + -361.9134343821783, + 15.973275718220407 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1532.0, + -336.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_11-41-39_524135236/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_11-41-39_524135236/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0a057865b89fe629d5954c41d3b3f9ab77a1cdc3 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_11-41-39_524135236/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1484.45724310685, + -189.38771146354335, + 30.598685842429457 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1484.45724310685, + -192.38771146354335, + 30.598685842429457 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1484.45724310685, + -195.38771146354335, + 30.598685842429457 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1484.45724310685, + -198.38771146354335, + 30.598685842429457 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1484.45724310685, + -201.38771146354335, + 30.598685842429457 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1484.45724310685, + -204.38771146354335, + 30.598685842429457 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1484.45724310685, + -207.38771146354335, + 30.598685842429457 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1484.45724310685, + -210.38771146354335, + 30.598685842429457 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1484.45724310685, + -213.38771146354335, + 30.598685842429457 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1484.45724310685, + -216.38771146354335, + 30.598685842429457 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1484.45724310685, + -219.38771146354335, + 30.598685842429457 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1484.45724310685, + -222.38771146354335, + 30.598685842429457 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1484.45724310685, + -225.38771146354335, + 30.598685842429457 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1484.45724310685, + -228.38771146354335, + 30.598685842429457 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1484.45724310685, + -231.38771146354335, + 30.598685842429457 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1484.45724310685, + -234.38771146354335, + 30.598685842429457 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1484.45724310685, + -237.38771146354335, + 30.598685842429457 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1484.45724310685, + -240.38771146354335, + 30.598685842429457 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1484.45724310685, + -243.38771146354335, + 30.598685842429457 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1484.45724310685, + -246.38771146354335, + 30.598685842429457 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1484.45724310685, + -249.38771146354335, + 30.598685842429457 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1484.45724310685, + -252.38771146354335, + 30.598685842429457 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1484.45724310685, + -255.38771146354335, + 30.598685842429457 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1484.45724310685, + -258.3877114635434, + 30.598685842429457 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1484.45724310685, + -261.3877114635434, + 30.598685842429457 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1484.45724310685, + -264.3877114635434, + 30.598685842429457 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1484.45724310685, + -264.3877114635434, + 30.598685842429457 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1482.95724310685, + -266.9857876748967, + 30.598685842429457 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1481.45724310685, + -269.58386388625, + 30.598685842429457 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1479.95724310685, + -272.18194009760333, + 30.598685842429457 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1478.45724310685, + -274.78001630895665, + 30.598685842429457 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1476.95724310685, + -277.37809252030996, + 30.598685842429457 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1475.45724310685, + -279.9761687316633, + 30.598685842429457 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1473.95724310685, + -282.5742449430166, + 30.598685842429457 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1472.45724310685, + -285.1723211543699, + 30.598685842429457 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1470.95724310685, + -287.7703973657232, + 30.598685842429457 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1469.45724310685, + -290.36847357707654, + 30.598685842429457 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1467.95724310685, + -292.96654978842986, + 30.598685842429457 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1466.45724310685, + -295.5646259997832, + 30.598685842429457 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1464.95724310685, + -298.1627022111365, + 30.598685842429457 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1463.45724310685, + -300.7607784224898, + 30.598685842429457 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1461.95724310685, + -303.3588546338431, + 30.598685842429457 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1460.45724310685, + -305.95693084519644, + 30.598685842429457 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1458.95724310685, + -308.55500705654975, + 30.598685842429457 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1457.45724310685, + -311.15308326790307, + 30.598685842429457 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1455.95724310685, + -313.7511594792564, + 30.598685842429457 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1452.0, + -336.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_11-41-6_106242869/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_11-41-6_106242869/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..51ff6c4a5267c8f3a5ceaf20a80ec0151105994b --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_11-41-6_106242869/pose.jsonl @@ -0,0 +1,743 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -884.5210159866076, + 1351.942088455374, + 37.790020746414385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -887.119092197961, + 1350.442088455374, + 37.790020746414385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -889.7171684093144, + 1348.942088455374, + 37.790020746414385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -892.3152446206677, + 1347.442088455374, + 37.790020746414385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -894.9133208320211, + 1345.942088455374, + 37.790020746414385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -897.5113970433745, + 1344.442088455374, + 37.790020746414385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -900.1094732547278, + 1342.942088455374, + 37.790020746414385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -902.7075494660812, + 1341.442088455374, + 37.790020746414385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -905.3056256774346, + 1339.942088455374, + 37.790020746414385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -907.903701888788, + 1338.442088455374, + 37.790020746414385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -910.5017781001413, + 1336.942088455374, + 37.790020746414385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -913.0998543114947, + 1335.442088455374, + 37.790020746414385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -915.6979305228481, + 1333.942088455374, + 37.790020746414385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -918.2960067342015, + 1332.442088455374, + 37.790020746414385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -920.8940829455548, + 1330.942088455374, + 37.790020746414385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -923.4921591569082, + 1329.442088455374, + 37.790020746414385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -926.0902353682616, + 1327.942088455374, + 37.790020746414385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -928.688311579615, + 1326.442088455374, + 37.790020746414385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -931.2863877909683, + 1324.942088455374, + 37.790020746414385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -933.8844640023217, + 1323.442088455374, + 37.790020746414385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -936.4825402136751, + 1321.942088455374, + 37.790020746414385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -939.0806164250284, + 1320.442088455374, + 37.790020746414385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -941.6786926363818, + 1318.942088455374, + 37.790020746414385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -944.2767688477352, + 1317.442088455374, + 37.790020746414385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -946.8748450590886, + 1315.942088455374, + 37.790020746414385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -949.4729212704419, + 1314.442088455374, + 37.790020746414385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -952.0709974817953, + 1312.942088455374, + 37.790020746414385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -954.6690736931487, + 1311.442088455374, + 37.790020746414385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -957.267149904502, + 1309.942088455374, + 37.790020746414385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -959.8652261158554, + 1308.442088455374, + 37.790020746414385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -962.4633023272088, + 1306.942088455374, + 37.790020746414385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -965.0613785385622, + 1305.442088455374, + 37.790020746414385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -967.6594547499155, + 1303.942088455374, + 37.790020746414385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -970.2575309612689, + 1302.442088455374, + 37.790020746414385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -972.8556071726223, + 1300.942088455374, + 37.790020746414385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -975.4536833839757, + 1299.442088455374, + 37.790020746414385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -978.051759595329, + 1297.942088455374, + 37.790020746414385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -980.6498358066824, + 1296.442088455374, + 37.790020746414385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -983.2479120180358, + 1294.942088455374, + 37.790020746414385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -985.8459882293891, + 1293.442088455374, + 37.790020746414385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -988.4440644407425, + 1291.942088455374, + 37.790020746414385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -991.0421406520959, + 1290.442088455374, + 37.790020746414385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -993.6402168634493, + 1288.942088455374, + 37.790020746414385 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -993.6402168634493, + 1288.942088455374, + 37.790020746414385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -995.1402168634493, + 1286.3440122440206, + 37.790020746414385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -996.6402168634493, + 1283.7459360326673, + 37.790020746414385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -998.1402168634493, + 1281.147859821314, + 37.790020746414385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -999.6402168634493, + 1278.5497836099605, + 37.790020746414385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1001.1402168634493, + 1275.9517073986071, + 37.790020746414385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1002.6402168634493, + 1273.3536311872538, + 37.790020746414385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -1004.1402168634493, + 1270.7555549759004, + 37.790020746414385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -1005.6402168634493, + 1268.157478764547, + 37.790020746414385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -1007.1402168634493, + 1265.5594025531936, + 37.790020746414385 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -1007.1402168634493, + 1265.5594025531936, + 37.790020746414385 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -1007.1402168634493, + 1265.5594025531936, + 37.790020746414385 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535897833 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -1010.1402168634493, + 1265.5594025531936, + 37.790020746414385 + ], + "type": "stop", + "value": 0, + "yaw": -3.1415926535897833 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1032.0, + 1252.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_11-43-48_631340353/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_11-43-48_631340353/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f46fd4c3723a300ed4972de49bd5ef770bab4d36 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_11-43-48_631340353/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -807.8090315440807, + -1880.4597151607763, + 32.502360623515415 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -806.3090315440807, + -1883.0577913721297, + 32.502360623515415 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -804.8090315440807, + -1885.655867583483, + 32.502360623515415 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -803.3090315440807, + -1888.2539437948365, + 32.502360623515415 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -801.8090315440807, + -1890.8520200061898, + 32.502360623515415 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -800.3090315440807, + -1893.4500962175432, + 32.502360623515415 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -798.8090315440807, + -1896.0481724288966, + 32.502360623515415 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -797.3090315440807, + -1898.64624864025, + 32.502360623515415 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -795.8090315440807, + -1901.2443248516033, + 32.502360623515415 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -794.3090315440807, + -1903.8424010629567, + 32.502360623515415 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -792.8090315440807, + -1906.44047727431, + 32.502360623515415 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -791.3090315440807, + -1909.0385534856634, + 32.502360623515415 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -789.8090315440807, + -1911.6366296970168, + 32.502360623515415 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -788.3090315440807, + -1914.2347059083702, + 32.502360623515415 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -786.8090315440807, + -1916.8327821197236, + 32.502360623515415 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -785.3090315440807, + -1919.430858331077, + 32.502360623515415 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -783.8090315440807, + -1922.0289345424303, + 32.502360623515415 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -782.3090315440807, + -1924.6270107537837, + 32.502360623515415 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -780.8090315440807, + -1927.225086965137, + 32.502360623515415 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -779.3090315440807, + -1929.8231631764904, + 32.502360623515415 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -777.8090315440807, + -1932.4212393878438, + 32.502360623515415 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -776.3090315440807, + -1935.0193155991972, + 32.502360623515415 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -774.8090315440807, + -1937.6173918105505, + 32.502360623515415 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -773.3090315440807, + -1940.215468021904, + 32.502360623515415 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -771.8090315440807, + -1942.8135442332573, + 32.502360623515415 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -770.3090315440807, + -1945.4116204446107, + 32.502360623515415 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -768.8090315440807, + -1948.009696655964, + 32.502360623515415 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -767.3090315440807, + -1950.6077728673174, + 32.502360623515415 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -765.8090315440807, + -1953.2058490786708, + 32.502360623515415 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -764.3090315440807, + -1955.8039252900242, + 32.502360623515415 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -762.8090315440807, + -1958.4020015013775, + 32.502360623515415 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -761.3090315440807, + -1961.000077712731, + 32.502360623515415 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -759.8090315440807, + -1963.5981539240843, + 32.502360623515415 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -758.3090315440807, + -1966.1962301354376, + 32.502360623515415 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -756.8090315440807, + -1968.794306346791, + 32.502360623515415 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -755.3090315440807, + -1971.3923825581444, + 32.502360623515415 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -753.8090315440807, + -1973.9904587694978, + 32.502360623515415 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -752.3090315440807, + -1976.5885349808511, + 32.502360623515415 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -750.8090315440807, + -1979.1866111922045, + 32.502360623515415 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -749.3090315440807, + -1981.7846874035579, + 32.502360623515415 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -747.8090315440807, + -1984.3827636149113, + 32.502360623515415 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -746.3090315440807, + -1986.9808398262646, + 32.502360623515415 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -744.8090315440807, + -1989.578916037618, + 32.502360623515415 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -744.8090315440807, + -1989.578916037618, + 32.502360623515415 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -742.2109553327273, + -1991.078916037618, + 32.502360623515415 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -739.6128791213739, + -1992.578916037618, + 32.502360623515415 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -728.0, + -2008.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_11-45-23_1049546350/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_11-45-23_1049546350/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bce2270fa9820766afb520f708208480c9185bf9 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_11-45-23_1049546350/pose.jsonl @@ -0,0 +1,769 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3176.6768551909654, + -753.8762854726232, + 31.924963693435565 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3179.6768551909654, + -753.8762854726232, + 31.924963693435565 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3179.6768551909654, + -753.8762854726232, + 31.924963693435565 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3182.2749314023185, + -752.3762854726232, + 31.924963693435565 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3184.8730076136717, + -750.8762854726232, + 31.924963693435565 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3187.471083825025, + -749.3762854726232, + 31.924963693435565 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3190.069160036378, + -747.8762854726232, + 31.924963693435565 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3190.069160036378, + -747.8762854726232, + 31.924963693435565 + ], + "type": "go straight", + "value": 3, + "yaw": 2.842170943040401e-14 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 3193.069160036378, + -747.8762854726232, + 31.924963693435565 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 3196.069160036378, + -747.8762854726232, + 31.924963693435565 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 3199.069160036378, + -747.8762854726232, + 31.924963693435565 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 3202.069160036378, + -747.8762854726232, + 31.924963693435565 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 3205.069160036378, + -747.8762854726232, + 31.924963693435565 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 3208.069160036378, + -747.8762854726232, + 31.924963693435565 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 3211.069160036378, + -747.8762854726232, + 31.924963693435565 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 3214.069160036378, + -747.8762854726232, + 31.924963693435565 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 3217.069160036378, + -747.8762854726232, + 31.924963693435565 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 3220.069160036378, + -747.8762854726232, + 31.924963693435565 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 3223.069160036378, + -747.8762854726232, + 31.924963693435565 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 3226.069160036378, + -747.8762854726232, + 31.924963693435565 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 3229.069160036378, + -747.8762854726232, + 31.924963693435565 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 3232.069160036378, + -747.8762854726232, + 31.924963693435565 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 3232.069160036378, + -747.8762854726232, + 31.924963693435565 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 3234.667236247731, + -749.3762854726232, + 31.924963693435565 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 3237.2653124590843, + -750.8762854726232, + 31.924963693435565 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 3239.8633886704374, + -752.3762854726232, + 31.924963693435565 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 3242.4614648817906, + -753.8762854726232, + 31.924963693435565 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 3245.0595410931437, + -755.3762854726232, + 31.924963693435565 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 3247.657617304497, + -756.8762854726232, + 31.924963693435565 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 3250.25569351585, + -758.3762854726232, + 31.924963693435565 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 3252.853769727203, + -759.8762854726232, + 31.924963693435565 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 3255.4518459385563, + -761.3762854726232, + 31.924963693435565 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 3258.0499221499094, + -762.8762854726232, + 31.924963693435565 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 3260.6479983612626, + -764.3762854726232, + 31.924963693435565 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 3263.2460745726157, + -765.8762854726232, + 31.924963693435565 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 3265.844150783969, + -767.3762854726232, + 31.924963693435565 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 3268.442226995322, + -768.8762854726232, + 31.924963693435565 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 3271.040303206675, + -770.3762854726232, + 31.924963693435565 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 3273.6383794180283, + -771.8762854726232, + 31.924963693435565 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 3276.2364556293815, + -773.3762854726232, + 31.924963693435565 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 3278.8345318407346, + -774.8762854726232, + 31.924963693435565 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 3281.4326080520877, + -776.3762854726232, + 31.924963693435565 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 3284.030684263441, + -777.8762854726232, + 31.924963693435565 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 3286.628760474794, + -779.3762854726232, + 31.924963693435565 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 3289.226836686147, + -780.8762854726232, + 31.924963693435565 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 3291.8249128975003, + -782.3762854726232, + 31.924963693435565 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 3294.4229891088535, + -783.8762854726232, + 31.924963693435565 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 3297.0210653202066, + -785.3762854726232, + 31.924963693435565 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 3299.6191415315598, + -786.8762854726232, + 31.924963693435565 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 3302.217217742913, + -788.3762854726232, + 31.924963693435565 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 3304.815293954266, + -789.8762854726232, + 31.924963693435565 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 3307.413370165619, + -791.3762854726232, + 31.924963693435565 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 3310.0114463769723, + -792.8762854726232, + 31.924963693435565 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 3312.6095225883255, + -794.3762854726232, + 31.924963693435565 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 3312.6095225883255, + -794.3762854726232, + 31.924963693435565 + ], + "type": "go straight", + "value": 3, + "yaw": -2.842170943040401e-14 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 3315.6095225883255, + -794.3762854726232, + 31.924963693435565 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 3318.6095225883255, + -794.3762854726232, + 31.924963693435565 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 3321.6095225883255, + -794.3762854726232, + 31.924963693435565 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3340.0, + -800.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_11-48-20_339335164/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_11-48-20_339335164/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f15acb27612fe50d715e0cd08e821c0a7ccec251 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_11-48-20_339335164/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1483.9286113646697, + 936.0182905723022, + 37.59750421352891 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1486.526687576023, + 937.5182905723022, + 37.59750421352891 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1489.1247637873764, + 939.0182905723022, + 37.59750421352891 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1491.7228399987298, + 940.5182905723022, + 37.59750421352891 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1494.3209162100832, + 942.0182905723022, + 37.59750421352891 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1496.9189924214365, + 943.5182905723022, + 37.59750421352891 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1499.51706863279, + 945.0182905723022, + 37.59750421352891 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1502.1151448441433, + 946.5182905723022, + 37.59750421352891 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1504.7132210554967, + 948.0182905723022, + 37.59750421352891 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1507.31129726685, + 949.5182905723022, + 37.59750421352891 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1509.9093734782034, + 951.0182905723022, + 37.59750421352891 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1512.5074496895568, + 952.5182905723022, + 37.59750421352891 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1515.1055259009102, + 954.0182905723022, + 37.59750421352891 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1517.7036021122635, + 955.5182905723022, + 37.59750421352891 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1520.301678323617, + 957.0182905723022, + 37.59750421352891 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1522.8997545349703, + 958.5182905723022, + 37.59750421352891 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1525.4978307463236, + 960.0182905723022, + 37.59750421352891 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1528.095906957677, + 961.5182905723022, + 37.59750421352891 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1530.6939831690304, + 963.0182905723022, + 37.59750421352891 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1533.2920593803838, + 964.5182905723022, + 37.59750421352891 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1535.8901355917371, + 966.0182905723022, + 37.59750421352891 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1538.4882118030905, + 967.5182905723022, + 37.59750421352891 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1541.0862880144439, + 969.0182905723022, + 37.59750421352891 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1543.6843642257973, + 970.5182905723022, + 37.59750421352891 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1546.2824404371506, + 972.0182905723022, + 37.59750421352891 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1548.880516648504, + 973.5182905723022, + 37.59750421352891 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1551.4785928598574, + 975.0182905723022, + 37.59750421352891 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1554.0766690712107, + 976.5182905723022, + 37.59750421352891 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1556.6747452825641, + 978.0182905723022, + 37.59750421352891 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1559.2728214939175, + 979.5182905723022, + 37.59750421352891 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1561.8708977052709, + 981.0182905723022, + 37.59750421352891 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1564.4689739166242, + 982.5182905723022, + 37.59750421352891 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1567.0670501279776, + 984.0182905723022, + 37.59750421352891 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1569.665126339331, + 985.5182905723022, + 37.59750421352891 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1572.2632025506844, + 987.0182905723022, + 37.59750421352891 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1574.8612787620377, + 988.5182905723022, + 37.59750421352891 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1577.459354973391, + 990.0182905723022, + 37.59750421352891 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1580.0574311847445, + 991.5182905723022, + 37.59750421352891 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1582.6555073960978, + 993.0182905723022, + 37.59750421352891 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1585.2535836074512, + 994.5182905723022, + 37.59750421352891 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1587.8516598188046, + 996.0182905723022, + 37.59750421352891 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1590.449736030158, + 997.5182905723022, + 37.59750421352891 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1590.449736030158, + 997.5182905723022, + 37.59750421352891 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1593.449736030158, + 997.5182905723022, + 37.59750421352891 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1596.449736030158, + 997.5182905723022, + 37.59750421352891 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1599.449736030158, + 997.5182905723022, + 37.59750421352891 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1602.449736030158, + 997.5182905723022, + 37.59750421352891 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1605.449736030158, + 997.5182905723022, + 37.59750421352891 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1608.449736030158, + 997.5182905723022, + 37.59750421352891 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1611.449736030158, + 997.5182905723022, + 37.59750421352891 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -1614.449736030158, + 997.5182905723022, + 37.59750421352891 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1640.0, + 1008.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_11-5-10_869921280/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_11-5-10_869921280/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..de04d7fc3a94b5e10ff5bfdc92efa3cb1c8149ec --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_11-5-10_869921280/pose.jsonl @@ -0,0 +1,223 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -892.3135878788464, + 2201.034606301619, + 37.37634274915172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -889.715511667493, + 2202.534606301619, + 37.37634274915172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -887.1174354561397, + 2204.034606301619, + 37.37634274915172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -884.5193592447863, + 2205.534606301619, + 37.37634274915172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -881.9212830334329, + 2207.034606301619, + 37.37634274915172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -879.3232068220796, + 2208.534606301619, + 37.37634274915172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -876.7251306107262, + 2210.034606301619, + 37.37634274915172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -874.1270543993728, + 2211.534606301619, + 37.37634274915172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -871.5289781880194, + 2213.034606301619, + 37.37634274915172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -868.9309019766661, + 2214.534606301619, + 37.37634274915172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -866.3328257653127, + 2216.034606301619, + 37.37634274915172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -863.7347495539593, + 2217.534606301619, + 37.37634274915172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -861.136673342606, + 2219.034606301619, + 37.37634274915172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -858.5385971312526, + 2220.534606301619, + 37.37634274915172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -855.9405209198992, + 2222.034606301619, + 37.37634274915172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -853.3424447085458, + 2223.534606301619, + 37.37634274915172 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -760.0, + 2288.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_11-5-22_167368542/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_11-5-22_167368542/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6afaefeadb64708de0b391d41caffc99ffd6244e --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_11-5-22_167368542/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2848.556869902562, + 1988.4917178388844, + 30.7920849120855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2850.056869902562, + 1985.893641627531, + 30.7920849120855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2851.556869902562, + 1983.2955654161776, + 30.7920849120855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2853.056869902562, + 1980.6974892048243, + 30.7920849120855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2854.556869902562, + 1978.0994129934709, + 30.7920849120855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2856.056869902562, + 1975.5013367821175, + 30.7920849120855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2857.556869902562, + 1972.9032605707641, + 30.7920849120855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2859.056869902562, + 1970.3051843594108, + 30.7920849120855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2860.556869902562, + 1967.7071081480574, + 30.7920849120855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2862.056869902562, + 1965.109031936704, + 30.7920849120855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2863.556869902562, + 1962.5109557253506, + 30.7920849120855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2865.056869902562, + 1959.9128795139973, + 30.7920849120855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2866.556869902562, + 1957.314803302644, + 30.7920849120855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2868.056869902562, + 1954.7167270912905, + 30.7920849120855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2869.556869902562, + 1952.1186508799371, + 30.7920849120855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2871.056869902562, + 1949.5205746685838, + 30.7920849120855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2872.556869902562, + 1946.9224984572304, + 30.7920849120855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2874.056869902562, + 1944.324422245877, + 30.7920849120855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2875.556869902562, + 1941.7263460345237, + 30.7920849120855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2877.056869902562, + 1939.1282698231703, + 30.7920849120855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2878.556869902562, + 1936.530193611817, + 30.7920849120855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2880.056869902562, + 1933.9321174004635, + 30.7920849120855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2881.556869902562, + 1931.3340411891102, + 30.7920849120855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2883.056869902562, + 1928.7359649777568, + 30.7920849120855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2884.556869902562, + 1926.1378887664034, + 30.7920849120855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2886.056869902562, + 1923.53981255505, + 30.7920849120855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2887.556869902562, + 1920.9417363436967, + 30.7920849120855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2889.056869902562, + 1918.3436601323433, + 30.7920849120855 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2889.056869902562, + 1918.3436601323433, + 30.7920849120855 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2889.056869902562, + 1915.3436601323433, + 30.7920849120855 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2889.056869902562, + 1912.3436601323433, + 30.7920849120855 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2889.056869902562, + 1909.3436601323433, + 30.7920849120855 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2889.056869902562, + 1906.3436601323433, + 30.7920849120855 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2889.056869902562, + 1903.3436601323433, + 30.7920849120855 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2889.056869902562, + 1900.3436601323433, + 30.7920849120855 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -2889.056869902562, + 1897.3436601323433, + 30.7920849120855 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -2889.056869902562, + 1897.3436601323433, + 30.7920849120855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -2890.556869902562, + 1894.74558392099, + 30.7920849120855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -2892.056869902562, + 1892.1475077096366, + 30.7920849120855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -2893.556869902562, + 1889.5494314982832, + 30.7920849120855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -2895.056869902562, + 1886.9513552869298, + 30.7920849120855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -2896.556869902562, + 1884.3532790755764, + 30.7920849120855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -2898.056869902562, + 1881.755202864223, + 30.7920849120855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -2899.556869902562, + 1879.1571266528697, + 30.7920849120855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -2901.056869902562, + 1876.5590504415163, + 30.7920849120855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -2902.556869902562, + 1873.960974230163, + 30.7920849120855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -2904.056869902562, + 1871.3628980188096, + 30.7920849120855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -2905.556869902562, + 1868.7648218074562, + 30.7920849120855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -2907.056869902562, + 1866.1667455961028, + 30.7920849120855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -2908.556869902562, + 1863.5686693847495, + 30.7920849120855 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2920.0, + 1844.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_11-51-32_1805816260/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_11-51-32_1805816260/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7973b5b03aaae9a68b281264da855e92c5701e06 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_11-51-32_1805816260/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1915.3760417422798, + 1125.023096366529, + 32.97895635368677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1912.7779655309264, + 1123.523096366529, + 32.97895635368677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1910.179889319573, + 1122.023096366529, + 32.97895635368677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1907.5818131082196, + 1120.523096366529, + 32.97895635368677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1904.9837368968663, + 1119.023096366529, + 32.97895635368677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1902.385660685513, + 1117.523096366529, + 32.97895635368677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1899.7875844741595, + 1116.023096366529, + 32.97895635368677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1897.1895082628062, + 1114.523096366529, + 32.97895635368677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1894.5914320514528, + 1113.023096366529, + 32.97895635368677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1891.9933558400994, + 1111.523096366529, + 32.97895635368677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1889.395279628746, + 1110.023096366529, + 32.97895635368677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1886.7972034173927, + 1108.523096366529, + 32.97895635368677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1884.1991272060393, + 1107.023096366529, + 32.97895635368677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1881.601050994686, + 1105.523096366529, + 32.97895635368677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1879.0029747833325, + 1104.023096366529, + 32.97895635368677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1876.4048985719792, + 1102.523096366529, + 32.97895635368677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1873.8068223606258, + 1101.023096366529, + 32.97895635368677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1871.2087461492724, + 1099.523096366529, + 32.97895635368677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1868.610669937919, + 1098.023096366529, + 32.97895635368677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1866.0125937265657, + 1096.523096366529, + 32.97895635368677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1863.4145175152123, + 1095.023096366529, + 32.97895635368677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1860.816441303859, + 1093.523096366529, + 32.97895635368677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1858.2183650925056, + 1092.023096366529, + 32.97895635368677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1855.6202888811522, + 1090.523096366529, + 32.97895635368677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1853.0222126697988, + 1089.023096366529, + 32.97895635368677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1850.4241364584454, + 1087.523096366529, + 32.97895635368677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1847.826060247092, + 1086.023096366529, + 32.97895635368677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1845.2279840357387, + 1084.523096366529, + 32.97895635368677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1842.6299078243853, + 1083.023096366529, + 32.97895635368677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1840.031831613032, + 1081.523096366529, + 32.97895635368677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1837.4337554016786, + 1080.023096366529, + 32.97895635368677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1834.8356791903252, + 1078.523096366529, + 32.97895635368677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1832.2376029789718, + 1077.023096366529, + 32.97895635368677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1829.6395267676185, + 1075.523096366529, + 32.97895635368677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1827.041450556265, + 1074.023096366529, + 32.97895635368677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1824.4433743449117, + 1072.523096366529, + 32.97895635368677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1821.8452981335583, + 1071.023096366529, + 32.97895635368677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1819.247221922205, + 1069.523096366529, + 32.97895635368677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1816.6491457108516, + 1068.023096366529, + 32.97895635368677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1814.0510694994982, + 1066.523096366529, + 32.97895635368677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1811.4529932881449, + 1065.023096366529, + 32.97895635368677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1808.8549170767915, + 1063.523096366529, + 32.97895635368677 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1808.8549170767915, + 1063.523096366529, + 32.97895635368677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1807.3549170767915, + 1060.9250201551756, + 32.97895635368677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1805.8549170767915, + 1058.3269439438222, + 32.97895635368677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1804.3549170767915, + 1055.7288677324689, + 32.97895635368677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1802.8549170767915, + 1053.1307915211155, + 32.97895635368677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1801.3549170767915, + 1050.5327153097621, + 32.97895635368677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1799.8549170767915, + 1047.9346390984088, + 32.97895635368677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1798.3549170767915, + 1045.3365628870554, + 32.97895635368677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1796.8549170767915, + 1042.738486675702, + 32.97895635368677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1795.3549170767915, + 1040.1404104643486, + 32.97895635368677 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1776.0, + 1028.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_11-54-37_405341089/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_11-54-37_405341089/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..58ef778f8c090834a60f2a09fca7674b2b373d3e --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_11-54-37_405341089/pose.jsonl @@ -0,0 +1,158 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4389.91472765584, + 886.333690702485, + 39.50430309946375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4389.91472765584, + 883.333690702485, + 39.50430309946375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4389.91472765584, + 880.333690702485, + 39.50430309946375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4389.91472765584, + 877.333690702485, + 39.50430309946375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4389.91472765584, + 874.333690702485, + 39.50430309946375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4389.91472765584, + 871.333690702485, + 39.50430309946375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4389.91472765584, + 868.333690702485, + 39.50430309946375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4389.91472765584, + 865.333690702485, + 39.50430309946375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4389.91472765584, + 862.333690702485, + 39.50430309946375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4389.91472765584, + 859.333690702485, + 39.50430309946375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4389.91472765584, + 856.333690702485, + 39.50430309946375 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4380.0, + 728.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_11-54-47_442482781/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_11-54-47_442482781/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c205b9d966ea66f1460226cb80867a5c3b82f95b --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_11-54-47_442482781/pose.jsonl @@ -0,0 +1,275 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2148.6411556975795, + -2891.1647771384273, + 18.39261748879573 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2146.0430794862264, + -2892.6647771384273, + 18.39261748879573 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2143.445003274873, + -2894.1647771384273, + 18.39261748879573 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2140.84692706352, + -2895.6647771384273, + 18.39261748879573 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2138.248850852167, + -2897.1647771384273, + 18.39261748879573 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2135.650774640814, + -2898.6647771384273, + 18.39261748879573 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2133.0526984294606, + -2900.1647771384273, + 18.39261748879573 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2130.4546222181075, + -2901.6647771384273, + 18.39261748879573 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2127.8565460067543, + -2903.1647771384273, + 18.39261748879573 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2125.258469795401, + -2904.6647771384273, + 18.39261748879573 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2122.660393584048, + -2906.1647771384273, + 18.39261748879573 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2122.660393584048, + -2906.1647771384273, + 18.39261748879573 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196626 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2121.160393584048, + -2908.7628533497805, + 18.39261748879573 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2119.660393584048, + -2911.3609295611336, + 18.39261748879573 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2118.160393584048, + -2913.9590057724868, + 18.39261748879573 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2116.660393584048, + -2916.55708198384, + 18.39261748879573 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2115.160393584048, + -2919.155158195193, + 18.39261748879573 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2113.660393584048, + -2921.753234406546, + 18.39261748879573 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2112.160393584048, + -2924.3513106178993, + 18.39261748879573 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2110.660393584048, + -2926.9493868292525, + 18.39261748879573 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965694 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2016.0, + -3008.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_11-55-27_511583958/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_11-55-27_511583958/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5a4c3f188dd53f1ad9c575541bb856743e3fe4f5 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_11-55-27_511583958/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2404.8652573806917, + -967.7477013005973, + 39.10115722644696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2404.8652573806917, + -964.7477013005973, + 39.10115722644696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2404.8652573806917, + -961.7477013005973, + 39.10115722644696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2404.8652573806917, + -958.7477013005973, + 39.10115722644696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2404.8652573806917, + -955.7477013005973, + 39.10115722644696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2404.8652573806917, + -952.7477013005973, + 39.10115722644696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2404.8652573806917, + -949.7477013005973, + 39.10115722644696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2404.8652573806917, + -946.7477013005973, + 39.10115722644696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2404.8652573806917, + -943.7477013005973, + 39.10115722644696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2404.8652573806917, + -940.7477013005973, + 39.10115722644696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2404.8652573806917, + -937.7477013005973, + 39.10115722644696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2404.8652573806917, + -934.7477013005973, + 39.10115722644696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2404.8652573806917, + -931.7477013005973, + 39.10115722644696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2404.8652573806917, + -928.7477013005973, + 39.10115722644696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2404.8652573806917, + -925.7477013005973, + 39.10115722644696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2404.8652573806917, + -922.7477013005973, + 39.10115722644696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2404.8652573806917, + -919.7477013005973, + 39.10115722644696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2404.8652573806917, + -916.7477013005973, + 39.10115722644696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2404.8652573806917, + -913.7477013005973, + 39.10115722644696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2404.8652573806917, + -910.7477013005973, + 39.10115722644696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2404.8652573806917, + -907.7477013005973, + 39.10115722644696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2404.8652573806917, + -904.7477013005973, + 39.10115722644696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2404.8652573806917, + -901.7477013005973, + 39.10115722644696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2404.8652573806917, + -898.7477013005973, + 39.10115722644696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2404.8652573806917, + -895.7477013005973, + 39.10115722644696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2404.8652573806917, + -892.7477013005973, + 39.10115722644696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2404.8652573806917, + -889.7477013005973, + 39.10115722644696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2404.8652573806917, + -886.7477013005973, + 39.10115722644696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2404.8652573806917, + -883.7477013005973, + 39.10115722644696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2404.8652573806917, + -880.7477013005973, + 39.10115722644696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2404.8652573806917, + -877.7477013005973, + 39.10115722644696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2404.8652573806917, + -874.7477013005973, + 39.10115722644696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2404.8652573806917, + -871.7477013005973, + 39.10115722644696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2404.8652573806917, + -868.7477013005973, + 39.10115722644696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2404.8652573806917, + -865.7477013005973, + 39.10115722644696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -2404.8652573806917, + -862.7477013005973, + 39.10115722644696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -2404.8652573806917, + -859.7477013005973, + 39.10115722644696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -2404.8652573806917, + -856.7477013005973, + 39.10115722644696 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -2404.8652573806917, + -856.7477013005973, + 39.10115722644696 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -2406.3652573806917, + -854.149625089244, + 39.10115722644696 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -2407.8652573806917, + -851.5515488778906, + 39.10115722644696 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -2409.3652573806917, + -848.9534726665372, + 39.10115722644696 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -2410.8652573806917, + -846.3553964551838, + 39.10115722644696 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -2412.3652573806917, + -843.7573202438305, + 39.10115722644696 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -2413.8652573806917, + -841.1592440324771, + 39.10115722644696 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -2415.3652573806917, + -838.5611678211237, + 39.10115722644696 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -2416.8652573806917, + -835.9630916097703, + 39.10115722644696 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -2418.3652573806917, + -833.365015398417, + 39.10115722644696 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -2419.8652573806917, + -830.7669391870636, + 39.10115722644696 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -2421.3652573806917, + -828.1688629757102, + 39.10115722644696 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -2422.8652573806917, + -825.5707867643569, + 39.10115722644696 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2428.0, + -796.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_11-55-2_2074216439/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_11-55-2_2074216439/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e841b0949c1f11b101d164867b53f57c2b75fe7f --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_11-55-2_2074216439/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1018.5129794685507, + 1238.1592431639303, + 33.74424046364092 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1018.5129794685507, + 1241.1592431639303, + 33.74424046364092 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1018.5129794685507, + 1244.1592431639303, + 33.74424046364092 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1018.5129794685507, + 1247.1592431639303, + 33.74424046364092 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1018.5129794685507, + 1250.1592431639303, + 33.74424046364092 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1018.5129794685507, + 1253.1592431639303, + 33.74424046364092 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1018.5129794685507, + 1256.1592431639303, + 33.74424046364092 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1018.5129794685507, + 1259.1592431639303, + 33.74424046364092 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1018.5129794685507, + 1262.1592431639303, + 33.74424046364092 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1018.5129794685507, + 1265.1592431639303, + 33.74424046364092 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1018.5129794685507, + 1268.1592431639303, + 33.74424046364092 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1018.5129794685507, + 1271.1592431639303, + 33.74424046364092 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1018.5129794685507, + 1274.1592431639303, + 33.74424046364092 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1018.5129794685507, + 1277.1592431639303, + 33.74424046364092 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1018.5129794685507, + 1280.1592431639303, + 33.74424046364092 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1018.5129794685507, + 1283.1592431639303, + 33.74424046364092 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1018.5129794685507, + 1286.1592431639303, + 33.74424046364092 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1018.5129794685507, + 1289.1592431639303, + 33.74424046364092 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1018.5129794685507, + 1292.1592431639303, + 33.74424046364092 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1018.5129794685507, + 1295.1592431639303, + 33.74424046364092 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1018.5129794685507, + 1298.1592431639303, + 33.74424046364092 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1018.5129794685507, + 1301.1592431639303, + 33.74424046364092 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1018.5129794685507, + 1304.1592431639303, + 33.74424046364092 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1018.5129794685507, + 1307.1592431639303, + 33.74424046364092 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1018.5129794685507, + 1310.1592431639303, + 33.74424046364092 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1018.5129794685507, + 1313.1592431639303, + 33.74424046364092 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1018.5129794685507, + 1316.1592431639303, + 33.74424046364092 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1018.5129794685507, + 1319.1592431639303, + 33.74424046364092 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1018.5129794685507, + 1322.1592431639303, + 33.74424046364092 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1018.5129794685507, + 1325.1592431639303, + 33.74424046364092 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1018.5129794685507, + 1328.1592431639303, + 33.74424046364092 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1018.5129794685507, + 1331.1592431639303, + 33.74424046364092 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1018.5129794685507, + 1334.1592431639303, + 33.74424046364092 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1018.5129794685507, + 1337.1592431639303, + 33.74424046364092 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1018.5129794685507, + 1340.1592431639303, + 33.74424046364092 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1018.5129794685507, + 1343.1592431639303, + 33.74424046364092 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1018.5129794685507, + 1343.1592431639303, + 33.74424046364092 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1020.0129794685507, + 1345.7573193752837, + 33.74424046364092 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1021.5129794685507, + 1348.355395586637, + 33.74424046364092 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1023.0129794685507, + 1350.9534717979905, + 33.74424046364092 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1024.5129794685508, + 1353.5515480093438, + 33.74424046364092 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965743 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1026.0129794685508, + 1356.1496242206972, + 33.74424046364092 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1027.5129794685508, + 1358.7477004320506, + 33.74424046364092 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1029.0129794685508, + 1361.345776643404, + 33.74424046364092 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1030.5129794685508, + 1363.9438528547573, + 33.74424046364092 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1032.0129794685508, + 1366.5419290661107, + 33.74424046364092 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1040.0, + 1412.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_11-59-55_878777377/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_11-59-55_878777377/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..169bc8c10f12e43ef68467196506b0fa582521d2 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_11-59-55_878777377/pose.jsonl @@ -0,0 +1,847 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3373.9211360196, + 2375.978890230576, + 37.45387012051967 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3373.9211360196, + 2372.978890230576, + 37.45387012051967 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3373.9211360196, + 2369.978890230576, + 37.45387012051967 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3373.9211360196, + 2366.978890230576, + 37.45387012051967 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3373.9211360196, + 2363.978890230576, + 37.45387012051967 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3373.9211360196, + 2360.978890230576, + 37.45387012051967 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3373.9211360196, + 2357.978890230576, + 37.45387012051967 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3373.9211360196, + 2354.978890230576, + 37.45387012051967 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 3373.9211360196, + 2351.978890230576, + 37.45387012051967 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 3373.9211360196, + 2348.978890230576, + 37.45387012051967 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 3373.9211360196, + 2345.978890230576, + 37.45387012051967 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 3373.9211360196, + 2342.978890230576, + 37.45387012051967 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 3373.9211360196, + 2339.978890230576, + 37.45387012051967 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 3373.9211360196, + 2336.978890230576, + 37.45387012051967 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 3373.9211360196, + 2333.978890230576, + 37.45387012051967 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 3373.9211360196, + 2330.978890230576, + 37.45387012051967 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 3373.9211360196, + 2327.978890230576, + 37.45387012051967 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 3373.9211360196, + 2324.978890230576, + 37.45387012051967 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 3373.9211360196, + 2321.978890230576, + 37.45387012051967 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 3373.9211360196, + 2318.978890230576, + 37.45387012051967 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 3373.9211360196, + 2315.978890230576, + 37.45387012051967 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 3373.9211360196, + 2312.978890230576, + 37.45387012051967 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 3373.9211360196, + 2309.978890230576, + 37.45387012051967 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 3373.9211360196, + 2306.978890230576, + 37.45387012051967 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 3373.9211360196, + 2303.978890230576, + 37.45387012051967 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 3373.9211360196, + 2300.978890230576, + 37.45387012051967 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 3373.9211360196, + 2297.978890230576, + 37.45387012051967 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 3373.9211360196, + 2294.978890230576, + 37.45387012051967 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 3373.9211360196, + 2291.978890230576, + 37.45387012051967 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 3373.9211360196, + 2291.978890230576, + 37.45387012051967 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 3375.4211360196, + 2289.3808140192227, + 37.45387012051967 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 3376.9211360196, + 2286.7827378078696, + 37.45387012051967 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 3378.4211360196, + 2284.1846615965164, + 37.45387012051967 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 3379.9211360196, + 2281.5865853851633, + 37.45387012051967 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 3381.4211360196, + 2278.98850917381, + 37.45387012051967 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 3382.9211360196, + 2276.390432962457, + 37.45387012051967 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 3382.9211360196, + 2276.390432962457, + 37.45387012051967 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948681 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 3382.9211360196, + 2273.390432962457, + 37.45387012051967 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 3382.9211360196, + 2270.390432962457, + 37.45387012051967 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 3382.9211360196, + 2267.390432962457, + 37.45387012051967 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 3382.9211360196, + 2264.390432962457, + 37.45387012051967 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 3382.9211360196, + 2261.390432962457, + 37.45387012051967 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 3382.9211360196, + 2258.390432962457, + 37.45387012051967 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 3382.9211360196, + 2255.390432962457, + 37.45387012051967 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 3382.9211360196, + 2252.390432962457, + 37.45387012051967 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 3382.9211360196, + 2249.390432962457, + 37.45387012051967 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 3382.9211360196, + 2246.390432962457, + 37.45387012051967 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 3382.9211360196, + 2243.390432962457, + 37.45387012051967 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 3382.9211360196, + 2240.390432962457, + 37.45387012051967 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 3382.9211360196, + 2237.390432962457, + 37.45387012051967 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 3382.9211360196, + 2234.390432962457, + 37.45387012051967 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 3382.9211360196, + 2234.390432962457, + 37.45387012051967 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 3381.4211360196, + 2231.792356751104, + 37.45387012051967 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 3381.4211360196, + 2231.792356751104, + 37.45387012051967 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915224 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 3378.823059808247, + 2230.292356751104, + 37.45387012051967 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 3376.2249835968937, + 2228.792356751104, + 37.45387012051967 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 3373.6269073855406, + 2227.292356751104, + 37.45387012051967 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 3371.0288311741874, + 2225.792356751104, + 37.45387012051967 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 3368.4307549628343, + 2224.292356751104, + 37.45387012051967 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 3365.832678751481, + 2222.792356751104, + 37.45387012051967 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 3363.234602540128, + 2221.292356751104, + 37.45387012051967 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 3360.636526328775, + 2219.792356751104, + 37.45387012051967 + ], + "type": "turn left", + "value": 30, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 3360.636526328775, + 2219.792356751104, + 37.45387012051967 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931673 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 3359.136526328775, + 2217.1942805397507, + 37.45387012051967 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931673 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3356.0, + 2200.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_11-8-10_333480550/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_11-8-10_333480550/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..01340a9b5fea525004f40acf122c420f2ab74b4e --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_11-8-10_333480550/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2455.1580184160402, + -1890.8120828028082, + 36.722520833013824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2456.6580184160402, + -1893.4101590141615, + 36.722520833013824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2458.1580184160402, + -1896.008235225515, + 36.722520833013824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2459.6580184160402, + -1898.6063114368683, + 36.722520833013824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2461.1580184160402, + -1901.2043876482217, + 36.722520833013824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2462.6580184160402, + -1903.802463859575, + 36.722520833013824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2464.1580184160402, + -1906.4005400709284, + 36.722520833013824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2465.6580184160402, + -1908.9986162822818, + 36.722520833013824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2467.1580184160402, + -1911.5966924936351, + 36.722520833013824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 2468.6580184160402, + -1914.1947687049885, + 36.722520833013824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2470.1580184160402, + -1916.792844916342, + 36.722520833013824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2471.6580184160402, + -1919.3909211276953, + 36.722520833013824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 2473.1580184160402, + -1921.9889973390486, + 36.722520833013824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 2474.6580184160402, + -1924.587073550402, + 36.722520833013824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 2476.1580184160402, + -1927.1851497617554, + 36.722520833013824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 2477.6580184160402, + -1929.7832259731088, + 36.722520833013824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 2479.1580184160402, + -1932.3813021844621, + 36.722520833013824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 2480.6580184160402, + -1934.9793783958155, + 36.722520833013824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 2482.1580184160402, + -1937.5774546071689, + 36.722520833013824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 2483.6580184160402, + -1940.1755308185222, + 36.722520833013824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 2485.1580184160402, + -1942.7736070298756, + 36.722520833013824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 2486.6580184160402, + -1945.371683241229, + 36.722520833013824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 2488.1580184160402, + -1947.9697594525824, + 36.722520833013824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 2489.6580184160402, + -1950.5678356639357, + 36.722520833013824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 2491.1580184160402, + -1953.165911875289, + 36.722520833013824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 2492.6580184160402, + -1955.7639880866425, + 36.722520833013824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 2494.1580184160402, + -1958.3620642979959, + 36.722520833013824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 2495.6580184160402, + -1960.9601405093492, + 36.722520833013824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 2497.1580184160402, + -1963.5582167207026, + 36.722520833013824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 2498.6580184160402, + -1966.156292932056, + 36.722520833013824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 2500.1580184160402, + -1968.7543691434093, + 36.722520833013824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 2501.6580184160402, + -1971.3524453547627, + 36.722520833013824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 2503.1580184160402, + -1973.950521566116, + 36.722520833013824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 2504.6580184160402, + -1976.5485977774695, + 36.722520833013824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 2506.1580184160402, + -1979.1466739888228, + 36.722520833013824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 2507.6580184160402, + -1981.7447502001762, + 36.722520833013824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 2509.1580184160402, + -1984.3428264115296, + 36.722520833013824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 2510.6580184160402, + -1986.940902622883, + 36.722520833013824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 2512.1580184160402, + -1989.5389788342363, + 36.722520833013824 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 2512.1580184160402, + -1989.5389788342363, + 36.722520833013824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 2512.1580184160402, + -1992.5389788342363, + 36.722520833013824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 2512.1580184160402, + -1995.5389788342363, + 36.722520833013824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 2512.1580184160402, + -1998.5389788342363, + 36.722520833013824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 2512.1580184160402, + -2001.5389788342363, + 36.722520833013824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 2512.1580184160402, + -2004.5389788342363, + 36.722520833013824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 2512.1580184160402, + -2007.5389788342363, + 36.722520833013824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 2512.1580184160402, + -2010.5389788342363, + 36.722520833013824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 2512.1580184160402, + -2013.5389788342363, + 36.722520833013824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 2512.1580184160402, + -2016.5389788342363, + 36.722520833013824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 2512.1580184160402, + -2019.5389788342363, + 36.722520833013824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 2512.1580184160402, + -2022.5389788342363, + 36.722520833013824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 2512.1580184160402, + -2025.5389788342363, + 36.722520833013824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 2512.1580184160402, + -2028.5389788342363, + 36.722520833013824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 2512.1580184160402, + -2031.5389788342363, + 36.722520833013824 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2520.0, + -2048.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_11-8-40_233233021/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_11-8-40_233233021/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cd30166e35e31288751f76c38c977ca30180d467 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_11-8-40_233233021/pose.jsonl @@ -0,0 +1,431 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 134.881910342831, + -2302.939610631567, + 36.484935224584056 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 131.881910342831, + -2302.939610631567, + 36.484935224584056 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 128.881910342831, + -2302.939610631567, + 36.484935224584056 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 125.88191034283099, + -2302.939610631567, + 36.484935224584056 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 122.88191034283099, + -2302.939610631567, + 36.484935224584056 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 119.88191034283099, + -2302.939610631567, + 36.484935224584056 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 116.88191034283099, + -2302.939610631567, + 36.484935224584056 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 113.88191034283099, + -2302.939610631567, + 36.484935224584056 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 110.88191034283099, + -2302.939610631567, + 36.484935224584056 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 107.88191034283099, + -2302.939610631567, + 36.484935224584056 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 104.88191034283099, + -2302.939610631567, + 36.484935224584056 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 101.88191034283099, + -2302.939610631567, + 36.484935224584056 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 98.88191034283099, + -2302.939610631567, + 36.484935224584056 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 95.88191034283099, + -2302.939610631567, + 36.484935224584056 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 92.88191034283099, + -2302.939610631567, + 36.484935224584056 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 89.88191034283099, + -2302.939610631567, + 36.484935224584056 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 86.88191034283099, + -2302.939610631567, + 36.484935224584056 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 83.88191034283099, + -2302.939610631567, + 36.484935224584056 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 80.88191034283099, + -2302.939610631567, + 36.484935224584056 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 77.88191034283099, + -2302.939610631567, + 36.484935224584056 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 74.88191034283099, + -2302.939610631567, + 36.484935224584056 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 71.88191034283099, + -2302.939610631567, + 36.484935224584056 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 68.88191034283099, + -2302.939610631567, + 36.484935224584056 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 65.88191034283099, + -2302.939610631567, + 36.484935224584056 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 62.88191034283099, + -2302.939610631567, + 36.484935224584056 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 62.88191034283099, + -2302.939610631567, + 36.484935224584056 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 60.283834131477676, + -2304.439610631567, + 36.484935224584056 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 57.68575792012436, + -2305.939610631567, + 36.484935224584056 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 55.08768170877104, + -2307.439610631567, + 36.484935224584056 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 52.48960549741773, + -2308.939610631567, + 36.484935224584056 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 49.89152928606441, + -2310.439610631567, + 36.484935224584056 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 47.293453074711095, + -2311.939610631567, + 36.484935224584056 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -24.0, + -2316.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_12-14-35_770833934/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_12-14-35_770833934/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5a2a0472d13c2eea4a9475482e6046d693d9e8fe --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_12-14-35_770833934/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3272.813408596345, + -529.9160667037944, + 31.29681218000872 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3272.813408596345, + -532.9160667037944, + 31.29681218000872 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3272.813408596345, + -535.9160667037944, + 31.29681218000872 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3272.813408596345, + -538.9160667037944, + 31.29681218000872 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3272.813408596345, + -541.9160667037944, + 31.29681218000872 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3272.813408596345, + -544.9160667037944, + 31.29681218000872 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3272.813408596345, + -547.9160667037944, + 31.29681218000872 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3272.813408596345, + -550.9160667037944, + 31.29681218000872 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 3272.813408596345, + -553.9160667037944, + 31.29681218000872 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 3272.813408596345, + -556.9160667037944, + 31.29681218000872 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 3272.813408596345, + -559.9160667037944, + 31.29681218000872 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 3272.813408596345, + -562.9160667037944, + 31.29681218000872 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 3272.813408596345, + -565.9160667037944, + 31.29681218000872 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 3272.813408596345, + -568.9160667037944, + 31.29681218000872 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 3272.813408596345, + -571.9160667037944, + 31.29681218000872 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 3272.813408596345, + -574.9160667037944, + 31.29681218000872 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 3272.813408596345, + -577.9160667037944, + 31.29681218000872 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 3272.813408596345, + -580.9160667037944, + 31.29681218000872 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 3272.813408596345, + -583.9160667037944, + 31.29681218000872 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 3272.813408596345, + -586.9160667037944, + 31.29681218000872 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 3272.813408596345, + -589.9160667037944, + 31.29681218000872 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 3272.813408596345, + -592.9160667037944, + 31.29681218000872 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 3272.813408596345, + -595.9160667037944, + 31.29681218000872 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 3272.813408596345, + -598.9160667037944, + 31.29681218000872 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 3272.813408596345, + -601.9160667037944, + 31.29681218000872 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 3272.813408596345, + -604.9160667037944, + 31.29681218000872 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 3272.813408596345, + -607.9160667037944, + 31.29681218000872 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 3272.813408596345, + -610.9160667037944, + 31.29681218000872 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 3272.813408596345, + -613.9160667037944, + 31.29681218000872 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 3272.813408596345, + -616.9160667037944, + 31.29681218000872 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 3272.813408596345, + -619.9160667037944, + 31.29681218000872 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 3272.813408596345, + -622.9160667037944, + 31.29681218000872 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 3272.813408596345, + -625.9160667037944, + 31.29681218000872 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 3272.813408596345, + -628.9160667037944, + 31.29681218000872 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 3272.813408596345, + -631.9160667037944, + 31.29681218000872 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 3272.813408596345, + -634.9160667037944, + 31.29681218000872 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 3272.813408596345, + -637.9160667037944, + 31.29681218000872 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 3272.813408596345, + -640.9160667037944, + 31.29681218000872 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 3272.813408596345, + -643.9160667037944, + 31.29681218000872 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 3272.813408596345, + -646.9160667037944, + 31.29681218000872 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 3272.813408596345, + -649.9160667037944, + 31.29681218000872 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 3272.813408596345, + -652.9160667037944, + 31.29681218000872 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 3272.813408596345, + -655.9160667037944, + 31.29681218000872 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 3272.813408596345, + -658.9160667037944, + 31.29681218000872 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 3272.813408596345, + -661.9160667037944, + 31.29681218000872 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 3272.813408596345, + -664.9160667037944, + 31.29681218000872 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3276.0, + -680.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_12-14-9_1135787096/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_12-14-9_1135787096/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..88bf5965311aeaf8e4122a21ec1b9d334993eaa5 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_12-14-9_1135787096/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3486.2726886962487, + 1180.1770277626892, + 27.683464972318344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3488.870764907602, + 1181.6770277626892, + 27.683464972318344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3491.468841118955, + 1183.1770277626892, + 27.683464972318344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3494.066917330308, + 1184.6770277626892, + 27.683464972318344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3496.6649935416613, + 1186.1770277626892, + 27.683464972318344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3499.2630697530144, + 1187.6770277626892, + 27.683464972318344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3501.8611459643676, + 1189.1770277626892, + 27.683464972318344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3504.4592221757207, + 1190.6770277626892, + 27.683464972318344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 3507.057298387074, + 1192.1770277626892, + 27.683464972318344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 3509.655374598427, + 1193.6770277626892, + 27.683464972318344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 3512.25345080978, + 1195.1770277626892, + 27.683464972318344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 3514.8515270211333, + 1196.6770277626892, + 27.683464972318344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 3517.4496032324864, + 1198.1770277626892, + 27.683464972318344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 3520.0476794438396, + 1199.6770277626892, + 27.683464972318344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 3522.6457556551927, + 1201.1770277626892, + 27.683464972318344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 3525.243831866546, + 1202.6770277626892, + 27.683464972318344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 3527.841908077899, + 1204.1770277626892, + 27.683464972318344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 3530.439984289252, + 1205.6770277626892, + 27.683464972318344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 3533.0380605006053, + 1207.1770277626892, + 27.683464972318344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 3535.6361367119584, + 1208.6770277626892, + 27.683464972318344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 3538.2342129233116, + 1210.1770277626892, + 27.683464972318344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 3540.8322891346647, + 1211.6770277626892, + 27.683464972318344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 3543.430365346018, + 1213.1770277626892, + 27.683464972318344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 3546.028441557371, + 1214.6770277626892, + 27.683464972318344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 3548.626517768724, + 1216.1770277626892, + 27.683464972318344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 3551.2245939800773, + 1217.6770277626892, + 27.683464972318344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 3553.8226701914305, + 1219.1770277626892, + 27.683464972318344 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 3553.8226701914305, + 1219.1770277626892, + 27.683464972318344 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196626 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 3555.3226701914305, + 1221.7751039740426, + 27.683464972318344 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 3556.8226701914305, + 1224.373180185396, + 27.683464972318344 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 3558.3226701914305, + 1226.9712563967494, + 27.683464972318344 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 3559.8226701914305, + 1229.5693326081027, + 27.683464972318344 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 3561.3226701914305, + 1232.1674088194561, + 27.683464972318344 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 3562.8226701914305, + 1234.7654850308095, + 27.683464972318344 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 3564.3226701914305, + 1237.3635612421629, + 27.683464972318344 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 3565.8226701914305, + 1239.9616374535162, + 27.683464972318344 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 3567.3226701914305, + 1242.5597136648696, + 27.683464972318344 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 3568.8226701914305, + 1245.157789876223, + 27.683464972318344 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 3570.3226701914305, + 1247.7558660875764, + 27.683464972318344 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 3571.8226701914305, + 1250.3539422989297, + 27.683464972318344 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 3573.3226701914305, + 1252.952018510283, + 27.683464972318344 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 3574.8226701914305, + 1255.5500947216365, + 27.683464972318344 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 3576.3226701914305, + 1258.1481709329898, + 27.683464972318344 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 3577.8226701914305, + 1260.7462471443432, + 27.683464972318344 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3612.0, + 1292.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_12-18-37_327727208/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_12-18-37_327727208/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..050cbcbf6a01bc83f74120916dd2074ff4e69d0a --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_12-18-37_327727208/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 603.1604115536742, + 765.505146474399, + 25.505754085638436 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 601.6604115536742, + 762.9070702630456, + 25.505754085638436 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 600.1604115536742, + 760.3089940516923, + 25.505754085638436 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 598.6604115536742, + 757.7109178403389, + 25.505754085638436 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 597.1604115536742, + 755.1128416289855, + 25.505754085638436 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 595.6604115536742, + 752.5147654176321, + 25.505754085638436 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 594.1604115536742, + 749.9166892062788, + 25.505754085638436 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 592.6604115536742, + 747.3186129949254, + 25.505754085638436 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 591.1604115536742, + 744.720536783572, + 25.505754085638436 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 591.1604115536742, + 744.720536783572, + 25.505754085638436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 591.1604115536742, + 741.720536783572, + 25.505754085638436 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 591.1604115536742, + 741.720536783572, + 25.505754085638436 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 589.6604115536742, + 739.1224605722186, + 25.505754085638436 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 589.6604115536742, + 739.1224605722186, + 25.505754085638436 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 587.0623353423209, + 737.6224605722186, + 25.505754085638436 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 584.4642591309675, + 736.1224605722186, + 25.505754085638436 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 581.8661829196142, + 734.6224605722186, + 25.505754085638436 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 579.2681067082608, + 733.1224605722186, + 25.505754085638436 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 576.6700304969074, + 731.6224605722186, + 25.505754085638436 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 574.071954285554, + 730.1224605722186, + 25.505754085638436 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 571.4738780742007, + 728.6224605722186, + 25.505754085638436 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 568.8758018628473, + 727.1224605722186, + 25.505754085638436 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 566.2777256514939, + 725.6224605722186, + 25.505754085638436 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 563.6796494401406, + 724.1224605722186, + 25.505754085638436 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 561.0815732287872, + 722.6224605722186, + 25.505754085638436 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 558.4834970174338, + 721.1224605722186, + 25.505754085638436 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 555.8854208060804, + 719.6224605722186, + 25.505754085638436 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 553.2873445947271, + 718.1224605722186, + 25.505754085638436 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 550.6892683833737, + 716.6224605722186, + 25.505754085638436 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 548.0911921720203, + 715.1224605722186, + 25.505754085638436 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 545.493115960667, + 713.6224605722186, + 25.505754085638436 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 545.493115960667, + 713.6224605722186, + 25.505754085638436 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 542.493115960667, + 713.6224605722186, + 25.505754085638436 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 539.493115960667, + 713.6224605722186, + 25.505754085638436 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 536.493115960667, + 713.6224605722186, + 25.505754085638436 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 533.493115960667, + 713.6224605722186, + 25.505754085638436 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 530.493115960667, + 713.6224605722186, + 25.505754085638436 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 527.493115960667, + 713.6224605722186, + 25.505754085638436 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 524.493115960667, + 713.6224605722186, + 25.505754085638436 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 521.493115960667, + 713.6224605722186, + 25.505754085638436 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 518.493115960667, + 713.6224605722186, + 25.505754085638436 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 515.493115960667, + 713.6224605722186, + 25.505754085638436 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 512.493115960667, + 713.6224605722186, + 25.505754085638436 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 509.49311596066696, + 713.6224605722186, + 25.505754085638436 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 506.49311596066696, + 713.6224605722186, + 25.505754085638436 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 503.49311596066696, + 713.6224605722186, + 25.505754085638436 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 500.49311596066696, + 713.6224605722186, + 25.505754085638436 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 497.49311596066696, + 713.6224605722186, + 25.505754085638436 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 494.49311596066696, + 713.6224605722186, + 25.505754085638436 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 491.49311596066696, + 713.6224605722186, + 25.505754085638436 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 488.49311596066696, + 713.6224605722186, + 25.505754085638436 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 485.49311596066696, + 713.6224605722186, + 25.505754085638436 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 482.49311596066696, + 713.6224605722186, + 25.505754085638436 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 479.49311596066696, + 713.6224605722186, + 25.505754085638436 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 456.0, + 704.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_12-2-59_184794536/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_12-2-59_184794536/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..50d7d9cc0dc464b28475c2e284528bb722c56c17 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_12-2-59_184794536/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -980.7196366506286, + 918.1173367761749, + 17.94298056285955 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -977.7196366506286, + 918.1173367761749, + 17.94298056285955 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -974.7196366506286, + 918.1173367761749, + 17.94298056285955 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -971.7196366506286, + 918.1173367761749, + 17.94298056285955 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -968.7196366506286, + 918.1173367761749, + 17.94298056285955 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -965.7196366506286, + 918.1173367761749, + 17.94298056285955 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -962.7196366506286, + 918.1173367761749, + 17.94298056285955 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -959.7196366506286, + 918.1173367761749, + 17.94298056285955 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -956.7196366506286, + 918.1173367761749, + 17.94298056285955 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -953.7196366506286, + 918.1173367761749, + 17.94298056285955 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -950.7196366506286, + 918.1173367761749, + 17.94298056285955 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -947.7196366506286, + 918.1173367761749, + 17.94298056285955 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -944.7196366506286, + 918.1173367761749, + 17.94298056285955 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -944.7196366506286, + 918.1173367761749, + 17.94298056285955 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -942.1215604392753, + 919.6173367761749, + 17.94298056285955 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -939.5234842279219, + 921.1173367761749, + 17.94298056285955 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -936.9254080165686, + 922.6173367761749, + 17.94298056285955 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -934.3273318052152, + 924.1173367761749, + 17.94298056285955 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -931.7292555938618, + 925.6173367761749, + 17.94298056285955 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -929.1311793825084, + 927.1173367761749, + 17.94298056285955 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -926.5331031711551, + 928.6173367761749, + 17.94298056285955 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -923.9350269598017, + 930.1173367761749, + 17.94298056285955 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -921.3369507484483, + 931.6173367761749, + 17.94298056285955 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -918.738874537095, + 933.1173367761749, + 17.94298056285955 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -916.1407983257416, + 934.6173367761749, + 17.94298056285955 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -913.5427221143882, + 936.1173367761749, + 17.94298056285955 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -910.9446459030348, + 937.6173367761749, + 17.94298056285955 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -908.3465696916815, + 939.1173367761749, + 17.94298056285955 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -905.7484934803281, + 940.6173367761749, + 17.94298056285955 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -903.1504172689747, + 942.1173367761749, + 17.94298056285955 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -900.5523410576213, + 943.6173367761749, + 17.94298056285955 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -897.954264846268, + 945.1173367761749, + 17.94298056285955 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -895.3561886349146, + 946.6173367761749, + 17.94298056285955 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -892.7581124235612, + 948.1173367761749, + 17.94298056285955 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -890.1600362122078, + 949.6173367761749, + 17.94298056285955 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -887.5619600008545, + 951.1173367761749, + 17.94298056285955 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -884.9638837895011, + 952.6173367761749, + 17.94298056285955 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -882.3658075781477, + 954.1173367761749, + 17.94298056285955 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -879.7677313667944, + 955.6173367761749, + 17.94298056285955 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -877.169655155441, + 957.1173367761749, + 17.94298056285955 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -874.5715789440876, + 958.6173367761749, + 17.94298056285955 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -871.9735027327342, + 960.1173367761749, + 17.94298056285955 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -869.3754265213809, + 961.6173367761749, + 17.94298056285955 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -866.7773503100275, + 963.1173367761749, + 17.94298056285955 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -864.1792740986741, + 964.6173367761749, + 17.94298056285955 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -861.5811978873207, + 966.1173367761749, + 17.94298056285955 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -858.9831216759674, + 967.6173367761749, + 17.94298056285955 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -856.385045464614, + 969.1173367761749, + 17.94298056285955 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -853.7869692532606, + 970.6173367761749, + 17.94298056285955 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -851.1888930419072, + 972.1173367761749, + 17.94298056285955 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -851.1888930419072, + 972.1173367761749, + 17.94298056285955 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -849.6888930419072, + 974.7154129875282, + 17.94298056285955 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -848.1888930419072, + 977.3134891988816, + 17.94298056285955 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -846.6888930419072, + 979.911565410235, + 17.94298056285955 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -824.0, + 992.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_12-20-8_2105210525/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_12-20-8_2105210525/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f6b9b499fbcf0aa9671f00882a4d3dd3d12b15a4 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_12-20-8_2105210525/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 518.4039268287894, + -2686.8786772258773, + 26.66308964686536 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 516.9039268287894, + -2684.280601014524, + 26.66308964686536 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 515.4039268287894, + -2681.682524803171, + 26.66308964686536 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 513.9039268287894, + -2679.084448591818, + 26.66308964686536 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 512.4039268287894, + -2676.4863723804647, + 26.66308964686536 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 510.9039268287894, + -2673.8882961691115, + 26.66308964686536 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 509.4039268287894, + -2671.2902199577584, + 26.66308964686536 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 507.9039268287894, + -2668.6921437464052, + 26.66308964686536 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 506.4039268287894, + -2666.094067535052, + 26.66308964686536 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 504.9039268287894, + -2663.495991323699, + 26.66308964686536 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 503.4039268287894, + -2660.897915112346, + 26.66308964686536 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 501.9039268287894, + -2658.2998389009927, + 26.66308964686536 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 500.4039268287894, + -2655.7017626896395, + 26.66308964686536 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 498.9039268287894, + -2653.1036864782864, + 26.66308964686536 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 497.4039268287894, + -2650.505610266933, + 26.66308964686536 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 495.9039268287894, + -2647.90753405558, + 26.66308964686536 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 494.4039268287894, + -2645.309457844227, + 26.66308964686536 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 492.9039268287894, + -2642.711381632874, + 26.66308964686536 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 491.4039268287894, + -2640.1133054215206, + 26.66308964686536 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 489.9039268287894, + -2637.5152292101675, + 26.66308964686536 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 488.4039268287894, + -2634.9171529988143, + 26.66308964686536 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 486.9039268287894, + -2632.319076787461, + 26.66308964686536 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 485.4039268287894, + -2629.721000576108, + 26.66308964686536 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 483.9039268287894, + -2627.122924364755, + 26.66308964686536 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 482.4039268287894, + -2624.5248481534018, + 26.66308964686536 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 480.9039268287894, + -2621.9267719420486, + 26.66308964686536 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 479.4039268287894, + -2619.3286957306955, + 26.66308964686536 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 477.9039268287894, + -2616.7306195193423, + 26.66308964686536 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 476.4039268287894, + -2614.132543307989, + 26.66308964686536 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 474.9039268287894, + -2611.534467096636, + 26.66308964686536 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 474.9039268287894, + -2611.534467096636, + 26.66308964686536 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915224 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 472.3058506174361, + -2610.034467096636, + 26.66308964686536 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 469.70777440608276, + -2608.534467096636, + 26.66308964686536 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 467.10969819472945, + -2607.034467096636, + 26.66308964686536 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 464.51162198337613, + -2605.534467096636, + 26.66308964686536 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 461.9135457720228, + -2604.034467096636, + 26.66308964686536 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 459.3154695606695, + -2602.534467096636, + 26.66308964686536 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 456.7173933493162, + -2601.034467096636, + 26.66308964686536 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 454.11931713796287, + -2599.534467096636, + 26.66308964686536 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 451.52124092660955, + -2598.034467096636, + 26.66308964686536 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 448.92316471525623, + -2596.534467096636, + 26.66308964686536 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 446.3250885039029, + -2595.034467096636, + 26.66308964686536 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 443.7270122925496, + -2593.534467096636, + 26.66308964686536 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 441.1289360811963, + -2592.034467096636, + 26.66308964686536 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 438.53085986984297, + -2590.534467096636, + 26.66308964686536 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 435.93278365848965, + -2589.034467096636, + 26.66308964686536 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 435.93278365848965, + -2589.034467096636, + 26.66308964686536 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 434.43278365848965, + -2586.436390885283, + 26.66308964686536 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 432.93278365848965, + -2583.8383146739297, + 26.66308964686536 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023932237 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 408.0, + -2552.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_12-22-0_966071161/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_12-22-0_966071161/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..108b93b1d78afff93d9b644ccc147b12dcf54a2c --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_12-22-0_966071161/pose.jsonl @@ -0,0 +1,847 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1784.7982908433285, + -313.18464710967345, + 15.845712815005491 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1783.2982908433285, + -310.58657089832013, + 15.845712815005491 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1783.2982908433285, + -310.58657089832013, + 15.845712815005491 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1783.2982908433285, + -307.58657089832013, + 15.845712815005491 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1783.2982908433285, + -304.58657089832013, + 15.845712815005491 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1783.2982908433285, + -301.58657089832013, + 15.845712815005491 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1783.2982908433285, + -301.58657089832013, + 15.845712815005491 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1781.7982908433285, + -298.9884946869668, + 15.845712815005491 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1780.2982908433285, + -296.3904184756135, + 15.845712815005491 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1778.7982908433285, + -293.7923422642602, + 15.845712815005491 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1777.2982908433285, + -291.19426605290687, + 15.845712815005491 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1775.7982908433285, + -288.59618984155355, + 15.845712815005491 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1774.2982908433285, + -285.99811363020024, + 15.845712815005491 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1772.7982908433285, + -283.4000374188469, + 15.845712815005491 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1771.2982908433285, + -280.8019612074936, + 15.845712815005491 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1771.2982908433285, + -280.8019612074936, + 15.845712815005491 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1768.700214631975, + -279.3019612074936, + 15.845712815005491 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1766.1021384206217, + -277.8019612074936, + 15.845712815005491 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1763.5040622092683, + -276.3019612074936, + 15.845712815005491 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1760.905985997915, + -274.8019612074936, + 15.845712815005491 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1758.3079097865616, + -273.3019612074936, + 15.845712815005491 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1755.7098335752082, + -271.8019612074936, + 15.845712815005491 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1753.1117573638548, + -270.3019612074936, + 15.845712815005491 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1750.5136811525015, + -268.8019612074936, + 15.845712815005491 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1747.915604941148, + -267.3019612074936, + 15.845712815005491 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1745.3175287297947, + -265.8019612074936, + 15.845712815005491 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1742.7194525184414, + -264.3019612074936, + 15.845712815005491 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1740.121376307088, + -262.8019612074936, + 15.845712815005491 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1737.5233000957346, + -261.3019612074936, + 15.845712815005491 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1737.5233000957346, + -261.3019612074936, + 15.845712815005491 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1734.5233000957346, + -261.3019612074936, + 15.845712815005491 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1731.5233000957346, + -261.3019612074936, + 15.845712815005491 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1728.5233000957346, + -261.3019612074936, + 15.845712815005491 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1725.5233000957346, + -261.3019612074936, + 15.845712815005491 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1722.5233000957346, + -261.3019612074936, + 15.845712815005491 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1719.5233000957346, + -261.3019612074936, + 15.845712815005491 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1716.5233000957346, + -261.3019612074936, + 15.845712815005491 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1713.5233000957346, + -261.3019612074936, + 15.845712815005491 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1710.5233000957346, + -261.3019612074936, + 15.845712815005491 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1707.5233000957346, + -261.3019612074936, + 15.845712815005491 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1704.5233000957346, + -261.3019612074936, + 15.845712815005491 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1704.5233000957346, + -261.3019612074936, + 15.845712815005491 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1704.5233000957346, + -261.3019612074936, + 15.845712815005491 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1703.0233000957346, + -258.7038849961403, + 15.845712815005491 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1701.5233000957346, + -256.105808784787, + 15.845712815005491 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1700.0233000957346, + -253.50773257343366, + 15.845712815005491 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1698.5233000957346, + -250.90965636208034, + 15.845712815005491 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1697.0233000957346, + -248.31158015072702, + 15.845712815005491 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1695.5233000957346, + -245.7135039393737, + 15.845712815005491 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1694.0233000957346, + -243.1154277280204, + 15.845712815005491 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -1692.5233000957346, + -240.51735151666708, + 15.845712815005491 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -1692.5233000957346, + -240.51735151666708, + 15.845712815005491 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -1692.5233000957346, + -237.51735151666708, + 15.845712815005491 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -1692.5233000957346, + -234.51735151666708, + 15.845712815005491 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -1692.5233000957346, + -231.51735151666708, + 15.845712815005491 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -1692.5233000957346, + -228.51735151666708, + 15.845712815005491 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -1692.5233000957346, + -225.51735151666708, + 15.845712815005491 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -1692.5233000957346, + -222.51735151666708, + 15.845712815005491 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -1692.5233000957346, + -219.51735151666708, + 15.845712815005491 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -1692.5233000957346, + -216.51735151666708, + 15.845712815005491 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -1692.5233000957346, + -213.51735151666708, + 15.845712815005491 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -1692.5233000957346, + -210.51735151666708, + 15.845712815005491 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -1692.5233000957346, + -207.51735151666708, + 15.845712815005491 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -1692.5233000957346, + -204.51735151666708, + 15.845712815005491 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1672.0, + -180.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_12-24-14_1084384795/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_12-24-14_1084384795/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6665b79eb8f2f3b14493a375cfc1bbdc0c05f87d --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_12-24-14_1084384795/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2254.386756821103, + 2190.8394860433173, + 35.88664472165428 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2251.386756821103, + 2190.8394860433173, + 35.88664472165428 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2248.386756821103, + 2190.8394860433173, + 35.88664472165428 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2245.386756821103, + 2190.8394860433173, + 35.88664472165428 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2242.386756821103, + 2190.8394860433173, + 35.88664472165428 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2239.386756821103, + 2190.8394860433173, + 35.88664472165428 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2236.386756821103, + 2190.8394860433173, + 35.88664472165428 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2233.386756821103, + 2190.8394860433173, + 35.88664472165428 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2230.386756821103, + 2190.8394860433173, + 35.88664472165428 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2227.386756821103, + 2190.8394860433173, + 35.88664472165428 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2224.386756821103, + 2190.8394860433173, + 35.88664472165428 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2221.386756821103, + 2190.8394860433173, + 35.88664472165428 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2218.386756821103, + 2190.8394860433173, + 35.88664472165428 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2215.386756821103, + 2190.8394860433173, + 35.88664472165428 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2212.386756821103, + 2190.8394860433173, + 35.88664472165428 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2209.386756821103, + 2190.8394860433173, + 35.88664472165428 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2206.386756821103, + 2190.8394860433173, + 35.88664472165428 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2203.386756821103, + 2190.8394860433173, + 35.88664472165428 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2200.386756821103, + 2190.8394860433173, + 35.88664472165428 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2197.386756821103, + 2190.8394860433173, + 35.88664472165428 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2194.386756821103, + 2190.8394860433173, + 35.88664472165428 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2191.386756821103, + 2190.8394860433173, + 35.88664472165428 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2188.386756821103, + 2190.8394860433173, + 35.88664472165428 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2185.386756821103, + 2190.8394860433173, + 35.88664472165428 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2182.386756821103, + 2190.8394860433173, + 35.88664472165428 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2179.386756821103, + 2190.8394860433173, + 35.88664472165428 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2176.386756821103, + 2190.8394860433173, + 35.88664472165428 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2173.386756821103, + 2190.8394860433173, + 35.88664472165428 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2170.386756821103, + 2190.8394860433173, + 35.88664472165428 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2167.386756821103, + 2190.8394860433173, + 35.88664472165428 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2164.386756821103, + 2190.8394860433173, + 35.88664472165428 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2161.386756821103, + 2190.8394860433173, + 35.88664472165428 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2158.386756821103, + 2190.8394860433173, + 35.88664472165428 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2155.386756821103, + 2190.8394860433173, + 35.88664472165428 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2152.386756821103, + 2190.8394860433173, + 35.88664472165428 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -2149.386756821103, + 2190.8394860433173, + 35.88664472165428 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -2146.386756821103, + 2190.8394860433173, + 35.88664472165428 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -2143.386756821103, + 2190.8394860433173, + 35.88664472165428 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -2140.386756821103, + 2190.8394860433173, + 35.88664472165428 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -2137.386756821103, + 2190.8394860433173, + 35.88664472165428 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -2134.386756821103, + 2190.8394860433173, + 35.88664472165428 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -2131.386756821103, + 2190.8394860433173, + 35.88664472165428 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -2128.386756821103, + 2190.8394860433173, + 35.88664472165428 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -2125.386756821103, + 2190.8394860433173, + 35.88664472165428 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -2125.386756821103, + 2190.8394860433173, + 35.88664472165428 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -2122.78868060975, + 2189.3394860433173, + 35.88664472165428 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -2120.1906043983968, + 2187.8394860433173, + 35.88664472165428 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -2117.5925281870436, + 2186.3394860433173, + 35.88664472165428 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755983272 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2092.0, + 2184.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_12-26-1_279527351/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_12-26-1_279527351/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c139ed61fd15342846ce405c6d11b40c8a1819aa --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_12-26-1_279527351/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1810.2757510948225, + -105.29793744479221, + 21.460617801236964 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1811.7757510948225, + -102.6998612334389, + 21.460617801236964 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1813.2757510948225, + -100.10178502208558, + 21.460617801236964 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1814.7757510948225, + -97.50370881073226, + 21.460617801236964 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1816.2757510948225, + -94.90563259937895, + 21.460617801236964 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1817.7757510948225, + -92.30755638802563, + 21.460617801236964 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1819.2757510948225, + -89.70948017667232, + 21.460617801236964 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1820.7757510948225, + -87.111403965319, + 21.460617801236964 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1822.2757510948225, + -84.51332775396568, + 21.460617801236964 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1823.7757510948225, + -81.91525154261237, + 21.460617801236964 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1825.2757510948225, + -79.31717533125905, + 21.460617801236964 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1826.7757510948225, + -76.71909911990574, + 21.460617801236964 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1828.2757510948225, + -74.12102290855242, + 21.460617801236964 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1829.7757510948225, + -71.5229466971991, + 21.460617801236964 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1831.2757510948225, + -68.92487048584579, + 21.460617801236964 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1832.7757510948225, + -66.32679427449247, + 21.460617801236964 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1834.2757510948225, + -63.728718063139155, + 21.460617801236964 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1835.7757510948225, + -61.13064185178584, + 21.460617801236964 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1837.2757510948225, + -58.53256564043252, + 21.460617801236964 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1838.7757510948225, + -55.93448942907921, + 21.460617801236964 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1840.2757510948225, + -53.33641321772589, + 21.460617801236964 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1841.7757510948225, + -50.738337006372575, + 21.460617801236964 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1843.2757510948225, + -48.14026079501926, + 21.460617801236964 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1844.7757510948225, + -45.54218458366594, + 21.460617801236964 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1844.7757510948225, + -45.54218458366594, + 21.460617801236964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1844.7757510948225, + -42.54218458366594, + 21.460617801236964 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1844.7757510948225, + -42.54218458366594, + 21.460617801236964 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1846.2757510948225, + -39.94410837231263, + 21.460617801236964 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1847.7757510948225, + -37.34603216095931, + 21.460617801236964 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1849.2757510948225, + -34.747955949605995, + 21.460617801236964 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1850.7757510948225, + -32.14987973825268, + 21.460617801236964 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1852.2757510948225, + -29.551803526899363, + 21.460617801236964 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1852.2757510948225, + -29.551803526899363, + 21.460617801236964 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1854.8738273061758, + -28.051803526899363, + 21.460617801236964 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1857.4719035175292, + -26.551803526899363, + 21.460617801236964 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1860.0699797288826, + -25.051803526899363, + 21.460617801236964 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1862.668055940236, + -23.551803526899363, + 21.460617801236964 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1865.2661321515893, + -22.051803526899363, + 21.460617801236964 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1867.8642083629427, + -20.551803526899363, + 21.460617801236964 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1870.462284574296, + -19.051803526899363, + 21.460617801236964 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1873.0603607856494, + -17.551803526899363, + 21.460617801236964 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1875.6584369970028, + -16.051803526899363, + 21.460617801236964 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1878.2565132083562, + -14.551803526899363, + 21.460617801236964 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1880.8545894197096, + -13.051803526899363, + 21.460617801236964 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1883.452665631063, + -11.551803526899363, + 21.460617801236964 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1886.0507418424163, + -10.051803526899363, + 21.460617801236964 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1888.6488180537697, + -8.551803526899363, + 21.460617801236964 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1891.246894265123, + -7.051803526899363, + 21.460617801236964 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1893.8449704764764, + -5.551803526899363, + 21.460617801236964 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1896.4430466878298, + -4.051803526899363, + 21.460617801236964 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -1899.0411228991832, + -2.551803526899363, + 21.460617801236964 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -1901.6391991105365, + -1.051803526899363, + 21.460617801236964 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -1901.6391991105365, + -1.051803526899363, + 21.460617801236964 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -1903.1391991105365, + 1.546272684453953, + 21.460617801236964 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -1904.6391991105365, + 4.144348895807269, + 21.460617801236964 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1924.0, + 28.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_12-27-34_1725362297/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_12-27-34_1725362297/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..83cbc96249c78bd18b0eb73954c5dedaf37316f8 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_12-27-34_1725362297/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1911.0079567622165, + -240.34090520752486, + 17.168563955600554 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1911.0079567622165, + -243.34090520752486, + 17.168563955600554 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1911.0079567622165, + -246.34090520752486, + 17.168563955600554 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1911.0079567622165, + -249.34090520752486, + 17.168563955600554 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1911.0079567622165, + -252.34090520752486, + 17.168563955600554 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1911.0079567622165, + -255.34090520752486, + 17.168563955600554 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1911.0079567622165, + -258.3409052075249, + 17.168563955600554 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1911.0079567622165, + -261.3409052075249, + 17.168563955600554 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1911.0079567622165, + -264.3409052075249, + 17.168563955600554 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1911.0079567622165, + -267.3409052075249, + 17.168563955600554 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1911.0079567622165, + -270.3409052075249, + 17.168563955600554 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1911.0079567622165, + -273.3409052075249, + 17.168563955600554 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1911.0079567622165, + -276.3409052075249, + 17.168563955600554 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1911.0079567622165, + -279.3409052075249, + 17.168563955600554 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1911.0079567622165, + -282.3409052075249, + 17.168563955600554 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1911.0079567622165, + -285.3409052075249, + 17.168563955600554 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1911.0079567622165, + -288.3409052075249, + 17.168563955600554 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1911.0079567622165, + -291.3409052075249, + 17.168563955600554 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1911.0079567622165, + -294.3409052075249, + 17.168563955600554 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1911.0079567622165, + -297.3409052075249, + 17.168563955600554 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1911.0079567622165, + -300.3409052075249, + 17.168563955600554 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1911.0079567622165, + -303.3409052075249, + 17.168563955600554 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1911.0079567622165, + -306.3409052075249, + 17.168563955600554 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1911.0079567622165, + -309.3409052075249, + 17.168563955600554 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1911.0079567622165, + -312.3409052075249, + 17.168563955600554 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1911.0079567622165, + -315.3409052075249, + 17.168563955600554 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1911.0079567622165, + -318.3409052075249, + 17.168563955600554 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1911.0079567622165, + -318.3409052075249, + 17.168563955600554 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1912.5079567622165, + -320.9389814188782, + 17.168563955600554 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1914.0079567622165, + -323.5370576302315, + 17.168563955600554 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1915.5079567622165, + -326.13513384158483, + 17.168563955600554 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1917.0079567622165, + -328.73321005293815, + 17.168563955600554 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1918.5079567622165, + -331.33128626429146, + 17.168563955600554 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1920.0079567622165, + -333.9293624756448, + 17.168563955600554 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1921.5079567622165, + -336.5274386869981, + 17.168563955600554 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1923.0079567622165, + -339.1255148983514, + 17.168563955600554 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1924.5079567622165, + -341.7235911097047, + 17.168563955600554 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1926.0079567622165, + -344.32166732105804, + 17.168563955600554 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1927.5079567622165, + -346.91974353241136, + 17.168563955600554 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1929.0079567622165, + -349.5178197437647, + 17.168563955600554 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1930.5079567622165, + -352.115895955118, + 17.168563955600554 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1932.0079567622165, + -354.7139721664713, + 17.168563955600554 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1933.5079567622165, + -357.3120483778246, + 17.168563955600554 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1935.0079567622165, + -359.91012458917794, + 17.168563955600554 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1936.5079567622165, + -362.50820080053126, + 17.168563955600554 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1938.0079567622165, + -365.1062770118846, + 17.168563955600554 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1939.5079567622165, + -367.7043532232379, + 17.168563955600554 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1948.0, + -404.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_12-35-47_1235238502/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_12-35-47_1235238502/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4225f86b3e6cafd32f5b6582efe1893cd46573af --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_12-35-47_1235238502/pose.jsonl @@ -0,0 +1,548 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2574.819456081578, + -141.41053540311282, + 32.13232624796589 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2573.319456081578, + -138.8124591917595, + 32.13232624796589 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2571.819456081578, + -136.21438298040619, + 32.13232624796589 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2570.319456081578, + -133.61630676905287, + 32.13232624796589 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2568.819456081578, + -131.01823055769955, + 32.13232624796589 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2567.319456081578, + -128.42015434634624, + 32.13232624796589 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2565.819456081578, + -125.82207813499292, + 32.13232624796589 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2564.319456081578, + -123.2240019236396, + 32.13232624796589 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2562.819456081578, + -120.62592571228629, + 32.13232624796589 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2561.319456081578, + -118.02784950093297, + 32.13232624796589 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2559.819456081578, + -115.42977328957966, + 32.13232624796589 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2558.319456081578, + -112.83169707822634, + 32.13232624796589 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2556.819456081578, + -110.23362086687303, + 32.13232624796589 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2555.319456081578, + -107.63554465551971, + 32.13232624796589 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2553.819456081578, + -105.0374684441664, + 32.13232624796589 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2552.319456081578, + -102.43939223281308, + 32.13232624796589 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2550.819456081578, + -99.84131602145976, + 32.13232624796589 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2549.319456081578, + -97.24323981010645, + 32.13232624796589 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2547.819456081578, + -94.64516359875313, + 32.13232624796589 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2546.319456081578, + -92.04708738739981, + 32.13232624796589 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2544.819456081578, + -89.4490111760465, + 32.13232624796589 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2543.319456081578, + -86.85093496469318, + 32.13232624796589 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2541.819456081578, + -84.25285875333986, + 32.13232624796589 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2540.319456081578, + -81.65478254198655, + 32.13232624796589 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2538.819456081578, + -79.05670633063323, + 32.13232624796589 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2537.319456081578, + -76.45863011927992, + 32.13232624796589 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2535.819456081578, + -73.8605539079266, + 32.13232624796589 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2534.319456081578, + -71.26247769657328, + 32.13232624796589 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2532.819456081578, + -68.66440148521997, + 32.13232624796589 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2531.319456081578, + -66.06632527386665, + 32.13232624796589 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2529.819456081578, + -63.46824906251334, + 32.13232624796589 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2529.819456081578, + -63.46824906251334, + 32.13232624796589 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2527.221379870225, + -61.96824906251334, + 32.13232624796589 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2524.623303658872, + -60.46824906251334, + 32.13232624796589 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2522.025227447519, + -58.96824906251334, + 32.13232624796589 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -2519.4271512361656, + -57.46824906251334, + 32.13232624796589 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -2516.8290750248125, + -55.96824906251334, + 32.13232624796589 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -2514.2309988134593, + -54.46824906251334, + 32.13232624796589 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -2511.632922602106, + -52.96824906251334, + 32.13232624796589 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -2511.632922602106, + -52.96824906251334, + 32.13232624796589 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196626 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -2510.132922602106, + -50.37017285116002, + 32.13232624796589 + ], + "type": "stop", + "value": 0, + "yaw": 1.047197551196626 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2476.0, + 0.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_12-37-18_1304352949/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_12-37-18_1304352949/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..45d7cbc93f125c9ebd0496de006cc212f5a38290 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_12-37-18_1304352949/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1285.782700544098, + -319.12901374427685, + 22.451597908041226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1284.282700544098, + -316.53093753292353, + 22.451597908041226 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1284.282700544098, + -316.53093753292353, + 22.451597908041226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1284.282700544098, + -313.53093753292353, + 22.451597908041226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1284.282700544098, + -310.53093753292353, + 22.451597908041226 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1284.282700544098, + -310.53093753292353, + 22.451597908041226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1282.782700544098, + -307.9328613215702, + 22.451597908041226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1281.282700544098, + -305.3347851102169, + 22.451597908041226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1279.782700544098, + -302.7367088988636, + 22.451597908041226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1278.282700544098, + -300.13863268751027, + 22.451597908041226 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1278.282700544098, + -300.13863268751027, + 22.451597908041226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1275.6846243327445, + -298.63863268751027, + 22.451597908041226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1273.0865481213912, + -297.13863268751027, + 22.451597908041226 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1273.0865481213912, + -297.13863268751027, + 22.451597908041226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1271.5865481213912, + -294.54055647615695, + 22.451597908041226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1270.0865481213912, + -291.94248026480363, + 22.451597908041226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1268.5865481213912, + -289.3444040534503, + 22.451597908041226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1267.0865481213912, + -286.746327842097, + 22.451597908041226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1265.5865481213912, + -284.1482516307437, + 22.451597908041226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1264.0865481213912, + -281.55017541939037, + 22.451597908041226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1262.5865481213912, + -278.95209920803705, + 22.451597908041226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1261.0865481213912, + -276.35402299668374, + 22.451597908041226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1259.5865481213912, + -273.7559467853304, + 22.451597908041226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1258.0865481213912, + -271.1578705739771, + 22.451597908041226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1256.5865481213912, + -268.5597943626238, + 22.451597908041226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1255.0865481213912, + -265.9617181512705, + 22.451597908041226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1253.5865481213912, + -263.36364193991716, + 22.451597908041226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1252.0865481213912, + -260.76556572856384, + 22.451597908041226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1250.5865481213912, + -258.1674895172105, + 22.451597908041226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1249.0865481213912, + -255.5694133058572, + 22.451597908041226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1247.5865481213912, + -252.9713370945039, + 22.451597908041226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1246.0865481213912, + -250.37326088315058, + 22.451597908041226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1244.5865481213912, + -247.77518467179726, + 22.451597908041226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1243.0865481213912, + -245.17710846044395, + 22.451597908041226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1241.5865481213912, + -242.57903224909063, + 22.451597908041226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1240.0865481213912, + -239.98095603773731, + 22.451597908041226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1238.5865481213912, + -237.382879826384, + 22.451597908041226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1237.0865481213912, + -234.78480361503068, + 22.451597908041226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1235.5865481213912, + -232.18672740367737, + 22.451597908041226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1234.0865481213912, + -229.58865119232405, + 22.451597908041226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1232.5865481213912, + -226.99057498097073, + 22.451597908041226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1231.0865481213912, + -224.39249876961742, + 22.451597908041226 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1231.0865481213912, + -224.39249876961742, + 22.451597908041226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1231.0865481213912, + -221.39249876961742, + 22.451597908041226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1231.0865481213912, + -218.39249876961742, + 22.451597908041226 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1208.0, + -176.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_12-40-53_733628447/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_12-40-53_733628447/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..93a405f92b5ece49c090c61a8c2c9c086bd6a435 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_12-40-53_733628447/pose.jsonl @@ -0,0 +1,548 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -24.340374284394443, + -2723.2903500684342, + 21.846160447731368 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -26.93845049574776, + -2724.7903500684342, + 21.846160447731368 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -29.536526707101075, + -2726.2903500684342, + 21.846160447731368 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -32.13460291845439, + -2727.7903500684342, + 21.846160447731368 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -34.73267912980771, + -2729.2903500684342, + 21.846160447731368 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -37.33075534116102, + -2730.7903500684342, + 21.846160447731368 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -39.92883155251434, + -2732.2903500684342, + 21.846160447731368 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -42.526907763867655, + -2733.7903500684342, + 21.846160447731368 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -45.12498397522097, + -2735.2903500684342, + 21.846160447731368 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -47.72306018657429, + -2736.7903500684342, + 21.846160447731368 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -50.3211363979276, + -2738.2903500684342, + 21.846160447731368 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -52.91921260928092, + -2739.7903500684342, + 21.846160447731368 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -55.517288820634235, + -2741.2903500684342, + 21.846160447731368 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -58.11536503198755, + -2742.7903500684342, + 21.846160447731368 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -60.71344124334087, + -2744.2903500684342, + 21.846160447731368 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -63.31151745469418, + -2745.7903500684342, + 21.846160447731368 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -65.9095936660475, + -2747.2903500684342, + 21.846160447731368 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -68.50766987740082, + -2748.7903500684342, + 21.846160447731368 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -71.10574608875413, + -2750.2903500684342, + 21.846160447731368 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -73.70382230010745, + -2751.7903500684342, + 21.846160447731368 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -76.30189851146076, + -2753.2903500684342, + 21.846160447731368 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -78.89997472281408, + -2754.7903500684342, + 21.846160447731368 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -81.4980509341674, + -2756.2903500684342, + 21.846160447731368 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -84.09612714552071, + -2757.7903500684342, + 21.846160447731368 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -86.69420335687403, + -2759.2903500684342, + 21.846160447731368 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -89.29227956822734, + -2760.7903500684342, + 21.846160447731368 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -91.89035577958066, + -2762.2903500684342, + 21.846160447731368 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -94.48843199093398, + -2763.7903500684342, + 21.846160447731368 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -97.08650820228729, + -2765.2903500684342, + 21.846160447731368 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -99.68458441364061, + -2766.7903500684342, + 21.846160447731368 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -102.28266062499392, + -2768.2903500684342, + 21.846160447731368 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -104.88073683634724, + -2769.7903500684342, + 21.846160447731368 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -107.47881304770056, + -2771.2903500684342, + 21.846160447731368 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -110.07688925905387, + -2772.7903500684342, + 21.846160447731368 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -112.67496547040719, + -2774.2903500684342, + 21.846160447731368 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -115.2730416817605, + -2775.7903500684342, + 21.846160447731368 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -117.87111789311382, + -2777.2903500684342, + 21.846160447731368 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -120.46919410446714, + -2778.7903500684342, + 21.846160447731368 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -120.46919410446714, + -2778.7903500684342, + 21.846160447731368 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -123.46919410446714, + -2778.7903500684342, + 21.846160447731368 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -126.46919410446714, + -2778.7903500684342, + 21.846160447731368 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -180.0, + -2808.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_12-47-29_1408347194/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_12-47-29_1408347194/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..89ba9ad2dd7b1bebdc65392db212f355746cdbde --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_12-47-29_1408347194/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4623.635255504624, + 2120.504817323864, + 25.229329841073906 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4621.037179293271, + 2122.004817323864, + 25.229329841073906 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4618.439103081918, + 2123.504817323864, + 25.229329841073906 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4615.841026870565, + 2125.004817323864, + 25.229329841073906 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4613.242950659212, + 2126.504817323864, + 25.229329841073906 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4610.6448744478585, + 2128.004817323864, + 25.229329841073906 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4608.046798236505, + 2129.504817323864, + 25.229329841073906 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4605.448722025152, + 2131.004817323864, + 25.229329841073906 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4602.850645813799, + 2132.504817323864, + 25.229329841073906 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4600.252569602446, + 2134.004817323864, + 25.229329841073906 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4597.654493391093, + 2135.504817323864, + 25.229329841073906 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4595.05641717974, + 2137.004817323864, + 25.229329841073906 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4592.458340968386, + 2138.504817323864, + 25.229329841073906 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4589.860264757033, + 2140.004817323864, + 25.229329841073906 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4587.26218854568, + 2141.504817323864, + 25.229329841073906 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4584.664112334327, + 2143.004817323864, + 25.229329841073906 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 4582.066036122974, + 2144.504817323864, + 25.229329841073906 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 4579.467959911621, + 2146.004817323864, + 25.229329841073906 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 4576.869883700268, + 2147.504817323864, + 25.229329841073906 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 4574.271807488914, + 2149.004817323864, + 25.229329841073906 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 4571.673731277561, + 2150.504817323864, + 25.229329841073906 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 4569.075655066208, + 2152.004817323864, + 25.229329841073906 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 4566.477578854855, + 2153.504817323864, + 25.229329841073906 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 4566.477578854855, + 2153.504817323864, + 25.229329841073906 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535897647 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 4563.477578854855, + 2153.504817323864, + 25.229329841073906 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 4560.477578854855, + 2153.504817323864, + 25.229329841073906 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 4557.477578854855, + 2153.504817323864, + 25.229329841073906 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 4554.477578854855, + 2153.504817323864, + 25.229329841073906 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 4551.477578854855, + 2153.504817323864, + 25.229329841073906 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 4548.477578854855, + 2153.504817323864, + 25.229329841073906 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 4545.477578854855, + 2153.504817323864, + 25.229329841073906 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 4542.477578854855, + 2153.504817323864, + 25.229329841073906 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 4539.477578854855, + 2153.504817323864, + 25.229329841073906 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 4536.477578854855, + 2153.504817323864, + 25.229329841073906 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 4533.477578854855, + 2153.504817323864, + 25.229329841073906 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 4530.477578854855, + 2153.504817323864, + 25.229329841073906 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 4527.477578854855, + 2153.504817323864, + 25.229329841073906 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 4524.477578854855, + 2153.504817323864, + 25.229329841073906 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 4521.477578854855, + 2153.504817323864, + 25.229329841073906 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 4518.477578854855, + 2153.504817323864, + 25.229329841073906 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 4515.477578854855, + 2153.504817323864, + 25.229329841073906 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 4512.477578854855, + 2153.504817323864, + 25.229329841073906 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 4509.477578854855, + 2153.504817323864, + 25.229329841073906 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 4506.477578854855, + 2153.504817323864, + 25.229329841073906 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4456.0, + 2168.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_12-5-16_1777483316/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_12-5-16_1777483316/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1c7dc0c01c4bdb70369b8a4481a2e20d410d6ed0 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_12-5-16_1777483316/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1670.5874688912054, + 2161.66178573345, + 25.10558675812232 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1667.989392679852, + 2163.16178573345, + 25.10558675812232 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1665.3913164684986, + 2164.66178573345, + 25.10558675812232 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1662.7932402571453, + 2166.16178573345, + 25.10558675812232 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1660.195164045792, + 2167.66178573345, + 25.10558675812232 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1657.5970878344385, + 2169.16178573345, + 25.10558675812232 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1654.9990116230852, + 2170.66178573345, + 25.10558675812232 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1652.4009354117318, + 2172.16178573345, + 25.10558675812232 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1649.8028592003784, + 2173.66178573345, + 25.10558675812232 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1647.204782989025, + 2175.16178573345, + 25.10558675812232 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1644.6067067776717, + 2176.66178573345, + 25.10558675812232 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1642.0086305663183, + 2178.16178573345, + 25.10558675812232 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1639.410554354965, + 2179.66178573345, + 25.10558675812232 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1636.8124781436115, + 2181.16178573345, + 25.10558675812232 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1634.2144019322582, + 2182.66178573345, + 25.10558675812232 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1631.6163257209048, + 2184.16178573345, + 25.10558675812232 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1629.0182495095514, + 2185.66178573345, + 25.10558675812232 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1626.420173298198, + 2187.16178573345, + 25.10558675812232 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1623.8220970868447, + 2188.66178573345, + 25.10558675812232 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1621.2240208754913, + 2190.16178573345, + 25.10558675812232 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1618.625944664138, + 2191.66178573345, + 25.10558675812232 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1616.0278684527846, + 2193.16178573345, + 25.10558675812232 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1613.4297922414312, + 2194.66178573345, + 25.10558675812232 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1610.8317160300778, + 2196.16178573345, + 25.10558675812232 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1608.2336398187244, + 2197.66178573345, + 25.10558675812232 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1605.635563607371, + 2199.16178573345, + 25.10558675812232 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1603.0374873960177, + 2200.66178573345, + 25.10558675812232 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1600.4394111846643, + 2202.16178573345, + 25.10558675812232 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1597.841334973311, + 2203.66178573345, + 25.10558675812232 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1595.2432587619576, + 2205.16178573345, + 25.10558675812232 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1592.6451825506042, + 2206.66178573345, + 25.10558675812232 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1590.0471063392508, + 2208.16178573345, + 25.10558675812232 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1587.4490301278975, + 2209.66178573345, + 25.10558675812232 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1584.850953916544, + 2211.16178573345, + 25.10558675812232 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1582.2528777051907, + 2212.66178573345, + 25.10558675812232 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1579.6548014938373, + 2214.16178573345, + 25.10558675812232 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1577.056725282484, + 2215.66178573345, + 25.10558675812232 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1574.4586490711306, + 2217.16178573345, + 25.10558675812232 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1571.8605728597772, + 2218.66178573345, + 25.10558675812232 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1569.2624966484238, + 2220.16178573345, + 25.10558675812232 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1540.0, + 2240.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_12-5-39_1906889260/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_12-5-39_1906889260/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..152e98d6b8b2227529ffe22abd222d4832a4222c --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_12-5-39_1906889260/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1983.8397609303554, + 2330.8706956695446, + 27.637728922049085 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1985.3397609303554, + 2333.4687718808977, + 27.637728922049085 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1986.8397609303554, + 2336.066848092251, + 27.637728922049085 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1988.3397609303554, + 2338.664924303604, + 27.637728922049085 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1989.8397609303554, + 2341.263000514957, + 27.637728922049085 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1991.3397609303554, + 2343.8610767263103, + 27.637728922049085 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1992.8397609303554, + 2346.4591529376635, + 27.637728922049085 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1994.3397609303554, + 2349.0572291490166, + 27.637728922049085 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1995.8397609303554, + 2351.6553053603698, + 27.637728922049085 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1997.3397609303554, + 2354.253381571723, + 27.637728922049085 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1998.8397609303554, + 2356.851457783076, + 27.637728922049085 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2000.3397609303554, + 2359.449533994429, + 27.637728922049085 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 2001.8397609303554, + 2362.0476102057823, + 27.637728922049085 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 2003.3397609303554, + 2364.6456864171355, + 27.637728922049085 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 2004.8397609303554, + 2367.2437626284886, + 27.637728922049085 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 2006.3397609303554, + 2369.841838839842, + 27.637728922049085 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 2007.8397609303554, + 2372.439915051195, + 27.637728922049085 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 2009.3397609303554, + 2375.037991262548, + 27.637728922049085 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 2010.8397609303554, + 2377.636067473901, + 27.637728922049085 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 2012.3397609303554, + 2380.2341436852544, + 27.637728922049085 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 2013.8397609303554, + 2382.8322198966075, + 27.637728922049085 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 2015.3397609303554, + 2385.4302961079607, + 27.637728922049085 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 2016.8397609303554, + 2388.028372319314, + 27.637728922049085 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 2018.3397609303554, + 2390.626448530667, + 27.637728922049085 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 2019.8397609303554, + 2393.22452474202, + 27.637728922049085 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 2021.3397609303554, + 2395.8226009533732, + 27.637728922049085 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 2022.8397609303554, + 2398.4206771647264, + 27.637728922049085 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 2024.3397609303554, + 2401.0187533760795, + 27.637728922049085 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 2025.8397609303554, + 2403.6168295874327, + 27.637728922049085 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 2027.3397609303554, + 2406.214905798786, + 27.637728922049085 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 2028.8397609303554, + 2408.812982010139, + 27.637728922049085 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 2030.3397609303554, + 2411.411058221492, + 27.637728922049085 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 2031.8397609303554, + 2414.0091344328453, + 27.637728922049085 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 2033.3397609303554, + 2416.6072106441984, + 27.637728922049085 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 2034.8397609303554, + 2419.2052868555515, + 27.637728922049085 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 2036.3397609303554, + 2421.8033630669047, + 27.637728922049085 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 2036.3397609303554, + 2421.8033630669047, + 27.637728922049085 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948681 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 2036.3397609303554, + 2424.8033630669047, + 27.637728922049085 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 2036.3397609303554, + 2427.8033630669047, + 27.637728922049085 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 2036.3397609303554, + 2430.8033630669047, + 27.637728922049085 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 2036.3397609303554, + 2433.8033630669047, + 27.637728922049085 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 2036.3397609303554, + 2436.8033630669047, + 27.637728922049085 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 2036.3397609303554, + 2439.8033630669047, + 27.637728922049085 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 2036.3397609303554, + 2442.8033630669047, + 27.637728922049085 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2056.0, + 2484.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_12-50-22_2077837209/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_12-50-22_2077837209/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..262a7ee564c10c2f0015bafc5a6ae544bc1e4f4d --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_12-50-22_2077837209/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2319.427546163255, + -359.6722368116393, + 19.849186113175094 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2322.0256223746082, + -358.1722368116393, + 19.849186113175094 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2324.6236985859614, + -356.6722368116393, + 19.849186113175094 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2327.2217747973145, + -355.1722368116393, + 19.849186113175094 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2329.8198510086677, + -353.6722368116393, + 19.849186113175094 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2332.417927220021, + -352.1722368116393, + 19.849186113175094 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2335.016003431374, + -350.6722368116393, + 19.849186113175094 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2337.614079642727, + -349.1722368116393, + 19.849186113175094 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2340.2121558540803, + -347.6722368116393, + 19.849186113175094 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2342.8102320654334, + -346.1722368116393, + 19.849186113175094 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2345.4083082767866, + -344.6722368116393, + 19.849186113175094 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2348.0063844881397, + -343.1722368116393, + 19.849186113175094 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2350.604460699493, + -341.6722368116393, + 19.849186113175094 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2353.202536910846, + -340.1722368116393, + 19.849186113175094 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2355.800613122199, + -338.6722368116393, + 19.849186113175094 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2358.3986893335523, + -337.1722368116393, + 19.849186113175094 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2360.9967655449054, + -335.6722368116393, + 19.849186113175094 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2363.5948417562586, + -334.1722368116393, + 19.849186113175094 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2366.1929179676117, + -332.6722368116393, + 19.849186113175094 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2368.790994178965, + -331.1722368116393, + 19.849186113175094 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2371.389070390318, + -329.6722368116393, + 19.849186113175094 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2373.987146601671, + -328.1722368116393, + 19.849186113175094 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2376.5852228130243, + -326.6722368116393, + 19.849186113175094 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2379.1832990243774, + -325.1722368116393, + 19.849186113175094 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2381.7813752357306, + -323.6722368116393, + 19.849186113175094 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2384.3794514470837, + -322.1722368116393, + 19.849186113175094 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2386.977527658437, + -320.6722368116393, + 19.849186113175094 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2389.57560386979, + -319.1722368116393, + 19.849186113175094 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2392.173680081143, + -317.6722368116393, + 19.849186113175094 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2394.7717562924963, + -316.1722368116393, + 19.849186113175094 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2397.3698325038495, + -314.6722368116393, + 19.849186113175094 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2397.3698325038495, + -314.6722368116393, + 19.849186113175094 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535897647 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2400.3698325038495, + -314.6722368116393, + 19.849186113175094 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2403.3698325038495, + -314.6722368116393, + 19.849186113175094 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2406.3698325038495, + -314.6722368116393, + 19.849186113175094 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -2409.3698325038495, + -314.6722368116393, + 19.849186113175094 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -2409.3698325038495, + -314.6722368116393, + 19.849186113175094 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -2411.9679087152026, + -313.1722368116393, + 19.849186113175094 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -2414.5659849265558, + -311.6722368116393, + 19.849186113175094 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -2417.164061137909, + -310.1722368116393, + 19.849186113175094 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -2419.762137349262, + -308.6722368116393, + 19.849186113175094 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -2422.360213560615, + -307.1722368116393, + 19.849186113175094 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -2424.9582897719683, + -305.6722368116393, + 19.849186113175094 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -2427.5563659833215, + -304.1722368116393, + 19.849186113175094 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -2430.1544421946746, + -302.6722368116393, + 19.849186113175094 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -2432.752518406028, + -301.1722368116393, + 19.849186113175094 + ], + "type": "stop", + "value": 0, + "yaw": 2.617993877991466 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2456.0, + -288.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_12-54-52_1106211926/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_12-54-52_1106211926/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3afb880d407752b510a0724b0da3096dcaae44ad --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_12-54-52_1106211926/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1544.4321454385072, + -2121.019199360161, + 36.606126674540164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1547.4321454385072, + -2121.019199360161, + 36.606126674540164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1550.4321454385072, + -2121.019199360161, + 36.606126674540164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1553.4321454385072, + -2121.019199360161, + 36.606126674540164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1556.4321454385072, + -2121.019199360161, + 36.606126674540164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1559.4321454385072, + -2121.019199360161, + 36.606126674540164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1562.4321454385072, + -2121.019199360161, + 36.606126674540164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1565.4321454385072, + -2121.019199360161, + 36.606126674540164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1568.4321454385072, + -2121.019199360161, + 36.606126674540164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1571.4321454385072, + -2121.019199360161, + 36.606126674540164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1574.4321454385072, + -2121.019199360161, + 36.606126674540164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1577.4321454385072, + -2121.019199360161, + 36.606126674540164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1580.4321454385072, + -2121.019199360161, + 36.606126674540164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1583.4321454385072, + -2121.019199360161, + 36.606126674540164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1586.4321454385072, + -2121.019199360161, + 36.606126674540164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1589.4321454385072, + -2121.019199360161, + 36.606126674540164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1592.4321454385072, + -2121.019199360161, + 36.606126674540164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1595.4321454385072, + -2121.019199360161, + 36.606126674540164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1598.4321454385072, + -2121.019199360161, + 36.606126674540164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1601.4321454385072, + -2121.019199360161, + 36.606126674540164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1604.4321454385072, + -2121.019199360161, + 36.606126674540164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1607.4321454385072, + -2121.019199360161, + 36.606126674540164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1610.4321454385072, + -2121.019199360161, + 36.606126674540164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1613.4321454385072, + -2121.019199360161, + 36.606126674540164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1616.4321454385072, + -2121.019199360161, + 36.606126674540164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1619.4321454385072, + -2121.019199360161, + 36.606126674540164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1622.4321454385072, + -2121.019199360161, + 36.606126674540164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1625.4321454385072, + -2121.019199360161, + 36.606126674540164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1628.4321454385072, + -2121.019199360161, + 36.606126674540164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1631.4321454385072, + -2121.019199360161, + 36.606126674540164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1634.4321454385072, + -2121.019199360161, + 36.606126674540164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1637.4321454385072, + -2121.019199360161, + 36.606126674540164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1640.4321454385072, + -2121.019199360161, + 36.606126674540164 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1640.4321454385072, + -2121.019199360161, + 36.606126674540164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1643.0302216498606, + -2122.519199360161, + 36.606126674540164 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1645.628297861214, + -2124.019199360161, + 36.606126674540164 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1648.2263740725673, + -2125.519199360161, + 36.606126674540164 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1650.8244502839207, + -2127.019199360161, + 36.606126674540164 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1653.422526495274, + -2128.519199360161, + 36.606126674540164 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1656.0206027066274, + -2130.019199360161, + 36.606126674540164 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1658.6186789179808, + -2131.519199360161, + 36.606126674540164 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1661.2167551293342, + -2133.019199360161, + 36.606126674540164 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1663.8148313406875, + -2134.519199360161, + 36.606126674540164 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1666.412907552041, + -2136.019199360161, + 36.606126674540164 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1669.0109837633943, + -2137.519199360161, + 36.606126674540164 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1671.6090599747477, + -2139.019199360161, + 36.606126674540164 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1674.207136186101, + -2140.519199360161, + 36.606126674540164 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1704.0, + -2144.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_12-6-13_111387570/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_12-6-13_111387570/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..49f8a2b5d7d7982ef6496b9cb9af599a472ba943 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_12-6-13_111387570/pose.jsonl @@ -0,0 +1,873 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2606.295432012202, + -1617.796495076215, + 32.55368251567793 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2607.795432012202, + -1620.3945712875684, + 32.55368251567793 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2609.295432012202, + -1622.9926474989218, + 32.55368251567793 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2610.795432012202, + -1625.5907237102751, + 32.55368251567793 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2612.295432012202, + -1628.1887999216285, + 32.55368251567793 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2613.795432012202, + -1630.786876132982, + 32.55368251567793 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2615.295432012202, + -1633.3849523443353, + 32.55368251567793 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2616.795432012202, + -1635.9830285556886, + 32.55368251567793 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2618.295432012202, + -1638.581104767042, + 32.55368251567793 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2619.795432012202, + -1641.1791809783954, + 32.55368251567793 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2621.295432012202, + -1643.7772571897488, + 32.55368251567793 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2622.795432012202, + -1646.3753334011021, + 32.55368251567793 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2624.295432012202, + -1648.9734096124555, + 32.55368251567793 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2625.795432012202, + -1651.5714858238089, + 32.55368251567793 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2627.295432012202, + -1654.1695620351622, + 32.55368251567793 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2628.795432012202, + -1656.7676382465156, + 32.55368251567793 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2630.295432012202, + -1659.365714457869, + 32.55368251567793 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2631.795432012202, + -1661.9637906692224, + 32.55368251567793 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2631.795432012202, + -1661.9637906692224, + 32.55368251567793 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2634.3935082235553, + -1663.4637906692224, + 32.55368251567793 + ], + "type": "turn left", + "value": 30, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2634.3935082235553, + -1663.4637906692224, + 32.55368251567793 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931673 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2634.3935082235553, + -1663.4637906692224, + 32.55368251567793 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948684 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2634.3935082235553, + -1666.4637906692224, + 32.55368251567793 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2634.3935082235553, + -1669.4637906692224, + 32.55368251567793 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2634.3935082235553, + -1672.4637906692224, + 32.55368251567793 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2634.3935082235553, + -1675.4637906692224, + 32.55368251567793 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2634.3935082235553, + -1678.4637906692224, + 32.55368251567793 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2634.3935082235553, + -1681.4637906692224, + 32.55368251567793 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2634.3935082235553, + -1684.4637906692224, + 32.55368251567793 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2634.3935082235553, + -1687.4637906692224, + 32.55368251567793 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2634.3935082235553, + -1690.4637906692224, + 32.55368251567793 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2634.3935082235553, + -1693.4637906692224, + 32.55368251567793 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2634.3935082235553, + -1696.4637906692224, + 32.55368251567793 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2634.3935082235553, + -1699.4637906692224, + 32.55368251567793 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2634.3935082235553, + -1702.4637906692224, + 32.55368251567793 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -2634.3935082235553, + -1705.4637906692224, + 32.55368251567793 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -2634.3935082235553, + -1705.4637906692224, + 32.55368251567793 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -2632.8935082235553, + -1708.0618668805757, + 32.55368251567793 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -2631.3935082235553, + -1710.659943091929, + 32.55368251567793 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -2629.8935082235553, + -1713.2580193032825, + 32.55368251567793 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -2628.3935082235553, + -1715.8560955146359, + 32.55368251567793 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -2626.8935082235553, + -1718.4541717259892, + 32.55368251567793 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -2625.3935082235553, + -1721.0522479373426, + 32.55368251567793 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -2623.8935082235553, + -1723.650324148696, + 32.55368251567793 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -2622.3935082235553, + -1726.2484003600493, + 32.55368251567793 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -2620.8935082235553, + -1728.8464765714027, + 32.55368251567793 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -2619.3935082235553, + -1731.444552782756, + 32.55368251567793 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -2617.8935082235553, + -1734.0426289941095, + 32.55368251567793 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -2616.3935082235553, + -1736.6407052054628, + 32.55368251567793 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -2614.8935082235553, + -1739.2387814168162, + 32.55368251567793 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -2613.3935082235553, + -1741.8368576281696, + 32.55368251567793 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -2611.8935082235553, + -1744.434933839523, + 32.55368251567793 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -2610.3935082235553, + -1747.0330100508763, + 32.55368251567793 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -2608.8935082235553, + -1749.6310862622297, + 32.55368251567793 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -2607.3935082235553, + -1752.229162473583, + 32.55368251567793 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -2605.8935082235553, + -1754.8272386849364, + 32.55368251567793 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -2604.3935082235553, + -1757.4253148962898, + 32.55368251567793 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -2602.8935082235553, + -1760.0233911076432, + 32.55368251567793 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -2601.3935082235553, + -1762.6214673189966, + 32.55368251567793 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -2599.8935082235553, + -1765.21954353035, + 32.55368251567793 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -2598.3935082235553, + -1767.8176197417033, + 32.55368251567793 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -2596.8935082235553, + -1770.4156959530567, + 32.55368251567793 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -2595.3935082235553, + -1773.01377216441, + 32.55368251567793 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -2593.8935082235553, + -1775.6118483757634, + 32.55368251567793 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -2592.3935082235553, + -1778.2099245871168, + 32.55368251567793 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -2590.8935082235553, + -1780.8080007984702, + 32.55368251567793 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2588.0, + -1796.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_13-12-16_1557686227/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_13-12-16_1557686227/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8e659f89693a8d2b2a4725d282893a5f3de2da3f --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_13-12-16_1557686227/pose.jsonl @@ -0,0 +1,67 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2057.428049024431, + 2266.3933991524364, + 29.207272446379406 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2058.928049024431, + 2268.9914753637895, + 29.207272446379406 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2058.928049024431, + 2268.9914753637895, + 29.207272446379406 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948681 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2058.928049024431, + 2271.9914753637895, + 29.207272446379406 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948681 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2100.0, + 2412.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_13-12-9_1172895038/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_13-12-9_1172895038/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..de424663beca1ff24eadfc99e265d61629ee2ce9 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_13-12-9_1172895038/pose.jsonl @@ -0,0 +1,80 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2809.5567723205636, + -249.1915494196781, + 27.290905853224803 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2812.5567723205636, + -249.1915494196781, + 27.290905853224803 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2815.5567723205636, + -249.1915494196781, + 27.290905853224803 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2818.5567723205636, + -249.1915494196781, + 27.290905853224803 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2821.5567723205636, + -249.1915494196781, + 27.290905853224803 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2956.0, + -284.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_13-17-11_401473495/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_13-17-11_401473495/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..63624b2caecbbd5d022209dc32505e1e42d8508f --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_13-17-11_401473495/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 642.2838018253078, + 11.110823973379318, + 35.065323519272795 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 645.2838018253078, + 11.110823973379318, + 35.065323519272795 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 648.2838018253078, + 11.110823973379318, + 35.065323519272795 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 651.2838018253078, + 11.110823973379318, + 35.065323519272795 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 654.2838018253078, + 11.110823973379318, + 35.065323519272795 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 657.2838018253078, + 11.110823973379318, + 35.065323519272795 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 660.2838018253078, + 11.110823973379318, + 35.065323519272795 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 663.2838018253078, + 11.110823973379318, + 35.065323519272795 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 666.2838018253078, + 11.110823973379318, + 35.065323519272795 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 669.2838018253078, + 11.110823973379318, + 35.065323519272795 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 672.2838018253078, + 11.110823973379318, + 35.065323519272795 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 675.2838018253078, + 11.110823973379318, + 35.065323519272795 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 678.2838018253078, + 11.110823973379318, + 35.065323519272795 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 678.2838018253078, + 11.110823973379318, + 35.065323519272795 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 680.8818780366612, + 12.610823973379318, + 35.065323519272795 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 683.4799542480146, + 14.110823973379318, + 35.065323519272795 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 686.0780304593679, + 15.610823973379318, + 35.065323519272795 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 688.6761066707213, + 17.11082397337932, + 35.065323519272795 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 691.2741828820747, + 18.61082397337932, + 35.065323519272795 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 693.872259093428, + 20.11082397337932, + 35.065323519272795 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 696.4703353047814, + 21.61082397337932, + 35.065323519272795 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 699.0684115161348, + 23.11082397337932, + 35.065323519272795 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 701.6664877274882, + 24.61082397337932, + 35.065323519272795 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 704.2645639388415, + 26.11082397337932, + 35.065323519272795 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 706.8626401501949, + 27.61082397337932, + 35.065323519272795 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 709.4607163615483, + 29.11082397337932, + 35.065323519272795 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 712.0587925729017, + 30.61082397337932, + 35.065323519272795 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 714.656868784255, + 32.11082397337932, + 35.065323519272795 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 717.2549449956084, + 33.61082397337932, + 35.065323519272795 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 719.8530212069618, + 35.11082397337932, + 35.065323519272795 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 722.4510974183152, + 36.61082397337932, + 35.065323519272795 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 725.0491736296685, + 38.11082397337932, + 35.065323519272795 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 727.6472498410219, + 39.61082397337932, + 35.065323519272795 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 730.2453260523753, + 41.11082397337932, + 35.065323519272795 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 732.8434022637286, + 42.61082397337932, + 35.065323519272795 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 735.441478475082, + 44.11082397337932, + 35.065323519272795 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 738.0395546864354, + 45.61082397337932, + 35.065323519272795 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 740.6376308977888, + 47.11082397337932, + 35.065323519272795 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 743.2357071091421, + 48.61082397337932, + 35.065323519272795 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 745.8337833204955, + 50.11082397337932, + 35.065323519272795 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 748.4318595318489, + 51.61082397337932, + 35.065323519272795 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 751.0299357432023, + 53.11082397337932, + 35.065323519272795 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 753.6280119545556, + 54.61082397337932, + 35.065323519272795 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 756.226088165909, + 56.11082397337932, + 35.065323519272795 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 784.0, + 64.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_13-2-59_831661736/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_13-2-59_831661736/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9b4b28e32b01fe11f8281499de09d72406fb97b1 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_13-2-59_831661736/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1669.32238313787, + -1916.1013570464218, + 14.042913893954776 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1666.7243069265166, + -1917.6013570464218, + 14.042913893954776 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1664.1262307151633, + -1919.1013570464218, + 14.042913893954776 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1661.52815450381, + -1920.6013570464218, + 14.042913893954776 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1658.9300782924565, + -1922.1013570464218, + 14.042913893954776 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1656.3320020811032, + -1923.6013570464218, + 14.042913893954776 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1653.7339258697498, + -1925.1013570464218, + 14.042913893954776 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1651.1358496583964, + -1926.6013570464218, + 14.042913893954776 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1648.537773447043, + -1928.1013570464218, + 14.042913893954776 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1645.9396972356897, + -1929.6013570464218, + 14.042913893954776 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1643.3416210243363, + -1931.1013570464218, + 14.042913893954776 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1640.743544812983, + -1932.6013570464218, + 14.042913893954776 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1638.1454686016295, + -1934.1013570464218, + 14.042913893954776 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1635.5473923902762, + -1935.6013570464218, + 14.042913893954776 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1632.9493161789228, + -1937.1013570464218, + 14.042913893954776 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1630.3512399675694, + -1938.6013570464218, + 14.042913893954776 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1627.753163756216, + -1940.1013570464218, + 14.042913893954776 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1625.1550875448627, + -1941.6013570464218, + 14.042913893954776 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1622.5570113335093, + -1943.1013570464218, + 14.042913893954776 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1619.958935122156, + -1944.6013570464218, + 14.042913893954776 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1617.3608589108026, + -1946.1013570464218, + 14.042913893954776 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1614.7627826994492, + -1947.6013570464218, + 14.042913893954776 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1612.1647064880958, + -1949.1013570464218, + 14.042913893954776 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1609.5666302767424, + -1950.6013570464218, + 14.042913893954776 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1606.968554065389, + -1952.1013570464218, + 14.042913893954776 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1604.3704778540357, + -1953.6013570464218, + 14.042913893954776 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1601.7724016426823, + -1955.1013570464218, + 14.042913893954776 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1599.174325431329, + -1956.6013570464218, + 14.042913893954776 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1596.5762492199756, + -1958.1013570464218, + 14.042913893954776 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1596.5762492199756, + -1958.1013570464218, + 14.042913893954776 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1593.5762492199756, + -1958.1013570464218, + 14.042913893954776 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1590.5762492199756, + -1958.1013570464218, + 14.042913893954776 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1587.5762492199756, + -1958.1013570464218, + 14.042913893954776 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1584.5762492199756, + -1958.1013570464218, + 14.042913893954776 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1581.5762492199756, + -1958.1013570464218, + 14.042913893954776 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1578.5762492199756, + -1958.1013570464218, + 14.042913893954776 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1575.5762492199756, + -1958.1013570464218, + 14.042913893954776 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1572.5762492199756, + -1958.1013570464218, + 14.042913893954776 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1569.5762492199756, + -1958.1013570464218, + 14.042913893954776 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1566.5762492199756, + -1958.1013570464218, + 14.042913893954776 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1563.5762492199756, + -1958.1013570464218, + 14.042913893954776 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1560.5762492199756, + -1958.1013570464218, + 14.042913893954776 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1557.5762492199756, + -1958.1013570464218, + 14.042913893954776 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1554.5762492199756, + -1958.1013570464218, + 14.042913893954776 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1551.5762492199756, + -1958.1013570464218, + 14.042913893954776 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1548.5762492199756, + -1958.1013570464218, + 14.042913893954776 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1545.5762492199756, + -1958.1013570464218, + 14.042913893954776 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1520.0, + -1968.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_13-20-41_406736335/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_13-20-41_406736335/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e100cb5ba65c928531eb1852a8c5ff618fecafef --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_13-20-41_406736335/pose.jsonl @@ -0,0 +1,457 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 59.63674068451147, + -1871.7241818664284, + 39.0248378617632 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 58.13674068451147, + -1874.3222580777817, + 39.0248378617632 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 56.63674068451147, + -1876.920334289135, + 39.0248378617632 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 55.13674068451147, + -1879.5184105004885, + 39.0248378617632 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 53.63674068451147, + -1882.1164867118418, + 39.0248378617632 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 52.13674068451147, + -1884.7145629231952, + 39.0248378617632 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 50.63674068451147, + -1887.3126391345486, + 39.0248378617632 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 49.13674068451147, + -1889.910715345902, + 39.0248378617632 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 47.63674068451147, + -1892.5087915572553, + 39.0248378617632 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 46.13674068451147, + -1895.1068677686087, + 39.0248378617632 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 44.63674068451147, + -1897.704943979962, + 39.0248378617632 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 43.13674068451147, + -1900.3030201913155, + 39.0248378617632 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 41.63674068451147, + -1902.9010964026688, + 39.0248378617632 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 40.13674068451147, + -1905.4991726140222, + 39.0248378617632 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 38.63674068451147, + -1908.0972488253756, + 39.0248378617632 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 37.13674068451147, + -1910.695325036729, + 39.0248378617632 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 35.63674068451147, + -1913.2934012480823, + 39.0248378617632 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 34.13674068451147, + -1915.8914774594357, + 39.0248378617632 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 32.63674068451147, + -1918.489553670789, + 39.0248378617632 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 31.136740684511473, + -1921.0876298821424, + 39.0248378617632 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 29.636740684511473, + -1923.6857060934958, + 39.0248378617632 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 29.636740684511473, + -1923.6857060934958, + 39.0248378617632 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 29.636740684511473, + -1926.6857060934958, + 39.0248378617632 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 29.636740684511473, + -1929.6857060934958, + 39.0248378617632 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 29.636740684511473, + -1932.6857060934958, + 39.0248378617632 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 29.636740684511473, + -1935.6857060934958, + 39.0248378617632 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 29.636740684511473, + -1938.6857060934958, + 39.0248378617632 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 29.636740684511473, + -1941.6857060934958, + 39.0248378617632 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 29.636740684511473, + -1944.6857060934958, + 39.0248378617632 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 29.636740684511473, + -1947.6857060934958, + 39.0248378617632 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 29.636740684511473, + -1950.6857060934958, + 39.0248378617632 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 29.636740684511473, + -1953.6857060934958, + 39.0248378617632 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 29.636740684511473, + -1956.6857060934958, + 39.0248378617632 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 29.636740684511473, + -1959.6857060934958, + 39.0248378617632 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 8.0, + -2024.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_13-25-12_335558628/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_13-25-12_335558628/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..aa079aa26c9da6434a7f95eea7419c8fdb6d13ed --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_13-25-12_335558628/pose.jsonl @@ -0,0 +1,54 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2995.5095716994624, + 2244.1431091672443, + 22.7702842142024 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2998.1076479108156, + 2245.6431091672443, + 22.7702842142024 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -3000.7057241221687, + 2247.1431091672443, + 22.7702842142024 + ], + "type": "stop", + "value": 0, + "yaw": 2.617993877991466 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -3144.0, + 2316.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_13-27-9_596727699/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_13-27-9_596727699/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..01ffa143ae2e57d2371223c88f5bdaa0619e8a21 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_13-27-9_596727699/pose.jsonl @@ -0,0 +1,457 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2837.229760113292, + 2034.620010356427, + 22.156167143565966 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2838.729760113292, + 2032.0219341450736, + 22.156167143565966 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2840.229760113292, + 2029.4238579337202, + 22.156167143565966 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2841.729760113292, + 2026.8257817223669, + 22.156167143565966 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2843.229760113292, + 2024.2277055110135, + 22.156167143565966 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2844.729760113292, + 2021.62962929966, + 22.156167143565966 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2846.229760113292, + 2019.0315530883067, + 22.156167143565966 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2847.729760113292, + 2016.4334768769534, + 22.156167143565966 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2849.229760113292, + 2013.8354006656, + 22.156167143565966 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2850.729760113292, + 2011.2373244542466, + 22.156167143565966 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2852.229760113292, + 2008.6392482428932, + 22.156167143565966 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2853.729760113292, + 2006.0411720315399, + 22.156167143565966 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2855.229760113292, + 2003.4430958201865, + 22.156167143565966 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2856.729760113292, + 2000.8450196088331, + 22.156167143565966 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2858.229760113292, + 1998.2469433974798, + 22.156167143565966 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2858.229760113292, + 1998.2469433974798, + 22.156167143565966 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2860.827836324645, + 1996.7469433974798, + 22.156167143565966 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2863.425912535998, + 1995.2469433974798, + 22.156167143565966 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2866.0239887473513, + 1993.7469433974798, + 22.156167143565966 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2868.6220649587044, + 1992.2469433974798, + 22.156167143565966 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2871.2201411700576, + 1990.7469433974798, + 22.156167143565966 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2873.8182173814107, + 1989.2469433974798, + 22.156167143565966 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2876.416293592764, + 1987.7469433974798, + 22.156167143565966 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2879.014369804117, + 1986.2469433974798, + 22.156167143565966 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2881.61244601547, + 1984.7469433974798, + 22.156167143565966 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2884.2105222268233, + 1983.2469433974798, + 22.156167143565966 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2886.8085984381764, + 1981.7469433974798, + 22.156167143565966 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2889.4066746495296, + 1980.2469433974798, + 22.156167143565966 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2892.0047508608827, + 1978.7469433974798, + 22.156167143565966 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2894.602827072236, + 1977.2469433974798, + 22.156167143565966 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2897.200903283589, + 1975.7469433974798, + 22.156167143565966 + ], + "type": "turn left", + "value": 30, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2897.200903283589, + 1975.7469433974798, + 22.156167143565966 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931673 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2898.700903283589, + 1973.1488671861264, + 22.156167143565966 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2900.200903283589, + 1970.550790974773, + 22.156167143565966 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2960.0, + 1908.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_13-28-23_33252481/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_13-28-23_33252481/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..eebd824e4f339c5cb70b245c24804eb90b4de238 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_13-28-23_33252481/pose.jsonl @@ -0,0 +1,795 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1155.878629967206, + 1665.9143607517626, + 19.345632930053394 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1154.378629967206, + 1663.3162845404092, + 19.345632930053394 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1152.878629967206, + 1660.7182083290559, + 19.345632930053394 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1151.378629967206, + 1658.1201321177025, + 19.345632930053394 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1149.878629967206, + 1655.5220559063491, + 19.345632930053394 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1148.378629967206, + 1652.9239796949958, + 19.345632930053394 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1146.878629967206, + 1650.3259034836424, + 19.345632930053394 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1145.378629967206, + 1647.727827272289, + 19.345632930053394 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1143.878629967206, + 1645.1297510609356, + 19.345632930053394 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1142.378629967206, + 1642.5316748495823, + 19.345632930053394 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1140.878629967206, + 1639.933598638229, + 19.345632930053394 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1139.378629967206, + 1637.3355224268755, + 19.345632930053394 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1137.878629967206, + 1634.7374462155221, + 19.345632930053394 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1136.378629967206, + 1632.1393700041688, + 19.345632930053394 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1134.878629967206, + 1629.5412937928154, + 19.345632930053394 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1133.378629967206, + 1626.943217581462, + 19.345632930053394 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1131.878629967206, + 1624.3451413701086, + 19.345632930053394 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1131.878629967206, + 1624.3451413701086, + 19.345632930053394 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1131.878629967206, + 1621.3451413701086, + 19.345632930053394 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1131.878629967206, + 1618.3451413701086, + 19.345632930053394 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1131.878629967206, + 1615.3451413701086, + 19.345632930053394 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1131.878629967206, + 1612.3451413701086, + 19.345632930053394 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1131.878629967206, + 1609.3451413701086, + 19.345632930053394 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1131.878629967206, + 1606.3451413701086, + 19.345632930053394 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1131.878629967206, + 1603.3451413701086, + 19.345632930053394 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1131.878629967206, + 1600.3451413701086, + 19.345632930053394 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1131.878629967206, + 1597.3451413701086, + 19.345632930053394 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1131.878629967206, + 1594.3451413701086, + 19.345632930053394 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1131.878629967206, + 1591.3451413701086, + 19.345632930053394 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1131.878629967206, + 1588.3451413701086, + 19.345632930053394 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1131.878629967206, + 1585.3451413701086, + 19.345632930053394 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1131.878629967206, + 1582.3451413701086, + 19.345632930053394 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1131.878629967206, + 1579.3451413701086, + 19.345632930053394 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1131.878629967206, + 1579.3451413701086, + 19.345632930053394 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1131.878629967206, + 1579.3451413701086, + 19.345632930053394 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1134.4767061785594, + 1577.8451413701086, + 19.345632930053394 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1137.0747823899128, + 1576.3451413701086, + 19.345632930053394 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1139.6728586012662, + 1574.8451413701086, + 19.345632930053394 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1142.2709348126195, + 1573.3451413701086, + 19.345632930053394 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1144.869011023973, + 1571.8451413701086, + 19.345632930053394 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1147.4670872353263, + 1570.3451413701086, + 19.345632930053394 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1150.0651634466797, + 1568.8451413701086, + 19.345632930053394 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1152.663239658033, + 1567.3451413701086, + 19.345632930053394 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1155.2613158693864, + 1565.8451413701086, + 19.345632930053394 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1157.8593920807398, + 1564.3451413701086, + 19.345632930053394 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1160.4574682920932, + 1562.8451413701086, + 19.345632930053394 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1163.0555445034465, + 1561.3451413701086, + 19.345632930053394 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1165.6536207148, + 1559.8451413701086, + 19.345632930053394 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1168.2516969261533, + 1558.3451413701086, + 19.345632930053394 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1170.8497731375066, + 1556.8451413701086, + 19.345632930053394 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1170.8497731375066, + 1556.8451413701086, + 19.345632930053394 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1172.3497731375066, + 1554.2470651587553, + 19.345632930053394 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1173.8497731375066, + 1551.648988947402, + 19.345632930053394 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1175.3497731375066, + 1549.0509127360485, + 19.345632930053394 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1176.8497731375066, + 1546.4528365246952, + 19.345632930053394 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1178.3497731375066, + 1543.8547603133418, + 19.345632930053394 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1179.8497731375066, + 1541.2566841019884, + 19.345632930053394 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1181.3497731375066, + 1538.658607890635, + 19.345632930053394 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1182.8497731375066, + 1536.0605316792817, + 19.345632930053394 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1184.3497731375066, + 1533.4624554679283, + 19.345632930053394 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1188.0, + 1508.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_13-30-23_209419369/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_13-30-23_209419369/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7eb7300d6ed934ea192cb43724872964e1ec1209 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_13-30-23_209419369/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4483.8859257932245, + -800.0916622266428, + 14.289734356014389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4486.8859257932245, + -800.0916622266428, + 14.289734356014389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4489.8859257932245, + -800.0916622266428, + 14.289734356014389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4492.8859257932245, + -800.0916622266428, + 14.289734356014389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4495.8859257932245, + -800.0916622266428, + 14.289734356014389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4498.8859257932245, + -800.0916622266428, + 14.289734356014389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4501.8859257932245, + -800.0916622266428, + 14.289734356014389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4504.8859257932245, + -800.0916622266428, + 14.289734356014389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4507.8859257932245, + -800.0916622266428, + 14.289734356014389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4510.8859257932245, + -800.0916622266428, + 14.289734356014389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4513.8859257932245, + -800.0916622266428, + 14.289734356014389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4516.8859257932245, + -800.0916622266428, + 14.289734356014389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4519.8859257932245, + -800.0916622266428, + 14.289734356014389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4522.8859257932245, + -800.0916622266428, + 14.289734356014389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4525.8859257932245, + -800.0916622266428, + 14.289734356014389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4528.8859257932245, + -800.0916622266428, + 14.289734356014389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 4531.8859257932245, + -800.0916622266428, + 14.289734356014389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 4534.8859257932245, + -800.0916622266428, + 14.289734356014389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 4537.8859257932245, + -800.0916622266428, + 14.289734356014389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 4540.8859257932245, + -800.0916622266428, + 14.289734356014389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 4543.8859257932245, + -800.0916622266428, + 14.289734356014389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 4546.8859257932245, + -800.0916622266428, + 14.289734356014389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 4549.8859257932245, + -800.0916622266428, + 14.289734356014389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 4552.8859257932245, + -800.0916622266428, + 14.289734356014389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 4555.8859257932245, + -800.0916622266428, + 14.289734356014389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 4558.8859257932245, + -800.0916622266428, + 14.289734356014389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 4561.8859257932245, + -800.0916622266428, + 14.289734356014389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 4564.8859257932245, + -800.0916622266428, + 14.289734356014389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 4567.8859257932245, + -800.0916622266428, + 14.289734356014389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 4570.8859257932245, + -800.0916622266428, + 14.289734356014389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 4573.8859257932245, + -800.0916622266428, + 14.289734356014389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 4576.8859257932245, + -800.0916622266428, + 14.289734356014389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 4579.8859257932245, + -800.0916622266428, + 14.289734356014389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 4582.8859257932245, + -800.0916622266428, + 14.289734356014389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 4585.8859257932245, + -800.0916622266428, + 14.289734356014389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 4588.8859257932245, + -800.0916622266428, + 14.289734356014389 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 4588.8859257932245, + -800.0916622266428, + 14.289734356014389 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 4588.8859257932245, + -800.0916622266428, + 14.289734356014389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 4590.3859257932245, + -797.4935860152896, + 14.289734356014389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 4591.8859257932245, + -794.8955098039362, + 14.289734356014389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 4593.3859257932245, + -792.2974335925828, + 14.289734356014389 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 4593.3859257932245, + -792.2974335925828, + 14.289734356014389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 4595.984002004578, + -790.7974335925828, + 14.289734356014389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 4598.582078215931, + -789.2974335925828, + 14.289734356014389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 4601.180154427284, + -787.7974335925828, + 14.289734356014389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 4603.778230638637, + -786.2974335925828, + 14.289734356014389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 4606.37630684999, + -784.7974335925828, + 14.289734356014389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 4608.974383061343, + -783.2974335925828, + 14.289734356014389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 4611.5724592726965, + -781.7974335925828, + 14.289734356014389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 4614.17053548405, + -780.2974335925828, + 14.289734356014389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 4616.768611695403, + -778.7974335925828, + 14.289734356014389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 4619.366687906756, + -777.2974335925828, + 14.289734356014389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 4621.964764118109, + -775.7974335925828, + 14.289734356014389 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755983272 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4640.0, + -772.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_13-31-20_1690127682/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_13-31-20_1690127682/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ec635e1d8aad0491c9cd771b81611e6b42bababd --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_13-31-20_1690127682/pose.jsonl @@ -0,0 +1,795 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1954.9898290356468, + -1632.537317193692, + 17.215275947062093 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1957.9898290356468, + -1632.537317193692, + 17.215275947062093 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1960.9898290356468, + -1632.537317193692, + 17.215275947062093 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1963.9898290356468, + -1632.537317193692, + 17.215275947062093 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1966.9898290356468, + -1632.537317193692, + 17.215275947062093 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1969.9898290356468, + -1632.537317193692, + 17.215275947062093 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1972.9898290356468, + -1632.537317193692, + 17.215275947062093 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1975.9898290356468, + -1632.537317193692, + 17.215275947062093 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1978.9898290356468, + -1632.537317193692, + 17.215275947062093 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1981.9898290356468, + -1632.537317193692, + 17.215275947062093 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1984.9898290356468, + -1632.537317193692, + 17.215275947062093 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1987.9898290356468, + -1632.537317193692, + 17.215275947062093 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1990.9898290356468, + -1632.537317193692, + 17.215275947062093 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1993.9898290356468, + -1632.537317193692, + 17.215275947062093 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1996.9898290356468, + -1632.537317193692, + 17.215275947062093 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1999.9898290356468, + -1632.537317193692, + 17.215275947062093 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2002.9898290356468, + -1632.537317193692, + 17.215275947062093 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2005.9898290356468, + -1632.537317193692, + 17.215275947062093 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2008.9898290356468, + -1632.537317193692, + 17.215275947062093 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2011.9898290356468, + -1632.537317193692, + 17.215275947062093 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2014.9898290356468, + -1632.537317193692, + 17.215275947062093 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2017.9898290356468, + -1632.537317193692, + 17.215275947062093 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2020.9898290356468, + -1632.537317193692, + 17.215275947062093 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2020.9898290356468, + -1632.537317193692, + 17.215275947062093 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2023.5879052470002, + -1634.037317193692, + 17.215275947062093 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2023.5879052470002, + -1634.037317193692, + 17.215275947062093 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2025.0879052470002, + -1636.6353934050453, + 17.215275947062093 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2026.5879052470002, + -1639.2334696163987, + 17.215275947062093 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2028.0879052470002, + -1641.831545827752, + 17.215275947062093 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2029.5879052470002, + -1644.4296220391054, + 17.215275947062093 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2031.0879052470002, + -1647.0276982504588, + 17.215275947062093 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2032.5879052470002, + -1649.6257744618122, + 17.215275947062093 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2034.0879052470002, + -1652.2238506731655, + 17.215275947062093 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2035.5879052470002, + -1654.821926884519, + 17.215275947062093 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2037.0879052470002, + -1657.4200030958723, + 17.215275947062093 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -2037.0879052470002, + -1657.4200030958723, + 17.215275947062093 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -2037.0879052470002, + -1657.4200030958723, + 17.215275947062093 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535897833 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -2040.0879052470002, + -1657.4200030958723, + 17.215275947062093 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -2043.0879052470002, + -1657.4200030958723, + 17.215275947062093 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -2046.0879052470002, + -1657.4200030958723, + 17.215275947062093 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -2049.087905247, + -1657.4200030958723, + 17.215275947062093 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -2052.087905247, + -1657.4200030958723, + 17.215275947062093 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -2055.087905247, + -1657.4200030958723, + 17.215275947062093 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -2058.087905247, + -1657.4200030958723, + 17.215275947062093 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -2061.087905247, + -1657.4200030958723, + 17.215275947062093 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -2064.087905247, + -1657.4200030958723, + 17.215275947062093 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -2067.087905247, + -1657.4200030958723, + 17.215275947062093 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -2067.087905247, + -1657.4200030958723, + 17.215275947062093 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -2067.087905247, + -1657.4200030958723, + 17.215275947062093 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -2068.587905247, + -1654.821926884519, + 17.215275947062093 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -2070.087905247, + -1652.2238506731655, + 17.215275947062093 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -2071.587905247, + -1649.6257744618122, + 17.215275947062093 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -2073.087905247, + -1647.0276982504588, + 17.215275947062093 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -2074.587905247, + -1644.4296220391054, + 17.215275947062093 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -2076.087905247, + -1641.831545827752, + 17.215275947062093 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -2076.087905247, + -1641.831545827752, + 17.215275947062093 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -2078.685981458353, + -1640.331545827752, + 17.215275947062093 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -2081.2840576697063, + -1638.831545827752, + 17.215275947062093 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -2083.8821338810594, + -1637.331545827752, + 17.215275947062093 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -2086.4802100924126, + -1635.831545827752, + 17.215275947062093 + ], + "type": "stop", + "value": 0, + "yaw": 2.617993877991466 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2112.0, + -1636.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_13-31-2_1217196008/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_13-31-2_1217196008/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7ab14599fafb5171d9f6e3b341726062872df92e --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_13-31-2_1217196008/pose.jsonl @@ -0,0 +1,379 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2393.178344647179, + 1371.7276561484712, + 20.209106690002024 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2396.178344647179, + 1371.7276561484712, + 20.209106690002024 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2399.178344647179, + 1371.7276561484712, + 20.209106690002024 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2402.178344647179, + 1371.7276561484712, + 20.209106690002024 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2405.178344647179, + 1371.7276561484712, + 20.209106690002024 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2408.178344647179, + 1371.7276561484712, + 20.209106690002024 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2411.178344647179, + 1371.7276561484712, + 20.209106690002024 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2414.178344647179, + 1371.7276561484712, + 20.209106690002024 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2417.178344647179, + 1371.7276561484712, + 20.209106690002024 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2420.178344647179, + 1371.7276561484712, + 20.209106690002024 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2423.178344647179, + 1371.7276561484712, + 20.209106690002024 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2426.178344647179, + 1371.7276561484712, + 20.209106690002024 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2429.178344647179, + 1371.7276561484712, + 20.209106690002024 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2432.178344647179, + 1371.7276561484712, + 20.209106690002024 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2435.178344647179, + 1371.7276561484712, + 20.209106690002024 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2438.178344647179, + 1371.7276561484712, + 20.209106690002024 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2441.178344647179, + 1371.7276561484712, + 20.209106690002024 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2441.178344647179, + 1371.7276561484712, + 20.209106690002024 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2443.776420858532, + 1373.2276561484712, + 20.209106690002024 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2446.3744970698854, + 1374.7276561484712, + 20.209106690002024 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2448.9725732812385, + 1376.2276561484712, + 20.209106690002024 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2451.5706494925917, + 1377.7276561484712, + 20.209106690002024 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2454.168725703945, + 1379.2276561484712, + 20.209106690002024 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2456.766801915298, + 1380.7276561484712, + 20.209106690002024 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2459.364878126651, + 1382.2276561484712, + 20.209106690002024 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2461.9629543380042, + 1383.7276561484712, + 20.209106690002024 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2464.5610305493574, + 1385.2276561484712, + 20.209106690002024 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2467.1591067607105, + 1386.7276561484712, + 20.209106690002024 + ], + "type": "stop", + "value": 0, + "yaw": 2.617993877991466 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2556.0, + 1408.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_13-33-17_1703835733/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_13-33-17_1703835733/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..990ac93f32e2ee983828ddcd56a602d551205e2e --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_13-33-17_1703835733/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4506.6126427544705, + 1580.1165884564746, + 37.32440324492204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4505.1126427544705, + 1577.5185122451212, + 37.32440324492204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4503.6126427544705, + 1574.9204360337678, + 37.32440324492204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4502.1126427544705, + 1572.3223598224145, + 37.32440324492204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4500.6126427544705, + 1569.724283611061, + 37.32440324492204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4499.1126427544705, + 1567.1262073997077, + 37.32440324492204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4497.6126427544705, + 1564.5281311883543, + 37.32440324492204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4496.1126427544705, + 1561.930054977001, + 37.32440324492204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4494.6126427544705, + 1559.3319787656476, + 37.32440324492204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4493.1126427544705, + 1556.7339025542942, + 37.32440324492204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4491.6126427544705, + 1554.1358263429408, + 37.32440324492204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4490.1126427544705, + 1551.5377501315875, + 37.32440324492204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4488.6126427544705, + 1548.939673920234, + 37.32440324492204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4487.1126427544705, + 1546.3415977088807, + 37.32440324492204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4485.6126427544705, + 1543.7435214975274, + 37.32440324492204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4484.1126427544705, + 1541.145445286174, + 37.32440324492204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 4482.6126427544705, + 1538.5473690748206, + 37.32440324492204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 4481.1126427544705, + 1535.9492928634672, + 37.32440324492204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 4479.6126427544705, + 1533.3512166521139, + 37.32440324492204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 4478.1126427544705, + 1530.7531404407605, + 37.32440324492204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 4476.6126427544705, + 1528.1550642294071, + 37.32440324492204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 4475.1126427544705, + 1525.5569880180537, + 37.32440324492204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 4473.6126427544705, + 1522.9589118067004, + 37.32440324492204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 4472.1126427544705, + 1520.360835595347, + 37.32440324492204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 4470.6126427544705, + 1517.7627593839936, + 37.32440324492204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 4469.1126427544705, + 1515.1646831726403, + 37.32440324492204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 4467.6126427544705, + 1512.5666069612869, + 37.32440324492204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 4466.1126427544705, + 1509.9685307499335, + 37.32440324492204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 4464.6126427544705, + 1507.3704545385801, + 37.32440324492204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 4463.1126427544705, + 1504.7723783272268, + 37.32440324492204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 4461.6126427544705, + 1502.1743021158734, + 37.32440324492204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 4460.1126427544705, + 1499.57622590452, + 37.32440324492204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 4458.6126427544705, + 1496.9781496931666, + 37.32440324492204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 4457.1126427544705, + 1494.3800734818133, + 37.32440324492204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 4455.6126427544705, + 1491.78199727046, + 37.32440324492204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 4454.1126427544705, + 1489.1839210591065, + 37.32440324492204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 4452.6126427544705, + 1486.5858448477532, + 37.32440324492204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 4451.1126427544705, + 1483.9877686363998, + 37.32440324492204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 4449.6126427544705, + 1481.3896924250464, + 37.32440324492204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 4448.1126427544705, + 1478.791616213693, + 37.32440324492204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 4446.6126427544705, + 1476.1935400023397, + 37.32440324492204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 4445.1126427544705, + 1473.5954637909863, + 37.32440324492204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 4443.6126427544705, + 1470.997387579633, + 37.32440324492204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 4442.1126427544705, + 1468.3993113682795, + 37.32440324492204 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 4442.1126427544705, + 1468.3993113682795, + 37.32440324492204 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 4442.1126427544705, + 1465.3993113682795, + 37.32440324492204 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 4442.1126427544705, + 1462.3993113682795, + 37.32440324492204 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 4442.1126427544705, + 1459.3993113682795, + 37.32440324492204 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 4442.1126427544705, + 1456.3993113682795, + 37.32440324492204 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 4442.1126427544705, + 1453.3993113682795, + 37.32440324492204 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 4442.1126427544705, + 1450.3993113682795, + 37.32440324492204 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4436.0, + 1436.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_13-34-55_910450857/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_13-34-55_910450857/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..83778f23d4cf3ebf1be742a6411646858e4d78de --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_13-34-55_910450857/pose.jsonl @@ -0,0 +1,158 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2828.832164048905, + 2454.5619799477804, + 25.828568017819187 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2830.332164048905, + 2457.1600561591335, + 25.828568017819187 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2831.832164048905, + 2459.7581323704867, + 25.828568017819187 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2833.332164048905, + 2462.35620858184, + 25.828568017819187 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2834.832164048905, + 2464.954284793193, + 25.828568017819187 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2836.332164048905, + 2467.552361004546, + 25.828568017819187 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2837.832164048905, + 2470.1504372158993, + 25.828568017819187 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2839.332164048905, + 2472.7485134272524, + 25.828568017819187 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2839.332164048905, + 2472.7485134272524, + 25.828568017819187 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982706 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 2841.930240260258, + 2474.2485134272524, + 25.828568017819187 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2844.528316471611, + 2475.7485134272524, + 25.828568017819187 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755983272 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2936.0, + 2576.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_13-41-21_1438638589/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_13-41-21_1438638589/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3f94e7c351dae7722655753e8a7738fcbdca1242 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_13-41-21_1438638589/pose.jsonl @@ -0,0 +1,574 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -870.8623278734236, + -720.918415896617, + 38.99484048855766 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -872.3623278734236, + -723.5164921079704, + 38.99484048855766 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -873.8623278734236, + -726.1145683193238, + 38.99484048855766 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -875.3623278734236, + -728.7126445306772, + 38.99484048855766 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -876.8623278734236, + -731.3107207420305, + 38.99484048855766 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -878.3623278734236, + -733.9087969533839, + 38.99484048855766 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -879.8623278734236, + -736.5068731647373, + 38.99484048855766 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -881.3623278734236, + -739.1049493760906, + 38.99484048855766 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -882.8623278734236, + -741.703025587444, + 38.99484048855766 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -884.3623278734236, + -744.3011017987974, + 38.99484048855766 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -885.8623278734236, + -746.8991780101508, + 38.99484048855766 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -887.3623278734236, + -749.4972542215041, + 38.99484048855766 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -888.8623278734236, + -752.0953304328575, + 38.99484048855766 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -890.3623278734236, + -754.6934066442109, + 38.99484048855766 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -891.8623278734236, + -757.2914828555643, + 38.99484048855766 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -893.3623278734236, + -759.8895590669176, + 38.99484048855766 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -894.8623278734236, + -762.487635278271, + 38.99484048855766 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -896.3623278734236, + -765.0857114896244, + 38.99484048855766 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -897.8623278734236, + -767.6837877009777, + 38.99484048855766 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -899.3623278734236, + -770.2818639123311, + 38.99484048855766 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -900.8623278734236, + -772.8799401236845, + 38.99484048855766 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -902.3623278734236, + -775.4780163350379, + 38.99484048855766 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -903.8623278734236, + -778.0760925463912, + 38.99484048855766 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -905.3623278734236, + -780.6741687577446, + 38.99484048855766 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -906.8623278734236, + -783.272244969098, + 38.99484048855766 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -908.3623278734236, + -785.8703211804514, + 38.99484048855766 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -909.8623278734236, + -788.4683973918047, + 38.99484048855766 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -909.8623278734236, + -788.4683973918047, + 38.99484048855766 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -909.8623278734236, + -791.4683973918047, + 38.99484048855766 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -909.8623278734236, + -794.4683973918047, + 38.99484048855766 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -909.8623278734236, + -797.4683973918047, + 38.99484048855766 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -909.8623278734236, + -800.4683973918047, + 38.99484048855766 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -909.8623278734236, + -803.4683973918047, + 38.99484048855766 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -909.8623278734236, + -806.4683973918047, + 38.99484048855766 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -909.8623278734236, + -809.4683973918047, + 38.99484048855766 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -909.8623278734236, + -812.4683973918047, + 38.99484048855766 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -909.8623278734236, + -815.4683973918047, + 38.99484048855766 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -909.8623278734236, + -818.4683973918047, + 38.99484048855766 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -909.8623278734236, + -821.4683973918047, + 38.99484048855766 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -909.8623278734236, + -824.4683973918047, + 38.99484048855766 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -909.8623278734236, + -827.4683973918047, + 38.99484048855766 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -909.8623278734236, + -830.4683973918047, + 38.99484048855766 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -909.8623278734236, + -833.4683973918047, + 38.99484048855766 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -920.0, + -868.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_13-42-16_1213735047/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_13-42-16_1213735047/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..641f663c528804545a33023634fa19e9c99024d1 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_13-42-16_1213735047/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2673.1956658373983, + 1919.9794103602403, + 39.04033809345507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2675.7937420487515, + 1921.4794103602403, + 39.04033809345507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2678.3918182601046, + 1922.9794103602403, + 39.04033809345507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2680.989894471458, + 1924.4794103602403, + 39.04033809345507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2683.587970682811, + 1925.9794103602403, + 39.04033809345507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2686.186046894164, + 1927.4794103602403, + 39.04033809345507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2688.784123105517, + 1928.9794103602403, + 39.04033809345507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2691.3821993168704, + 1930.4794103602403, + 39.04033809345507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2693.9802755282235, + 1931.9794103602403, + 39.04033809345507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2696.5783517395766, + 1933.4794103602403, + 39.04033809345507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2699.17642795093, + 1934.9794103602403, + 39.04033809345507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2701.774504162283, + 1936.4794103602403, + 39.04033809345507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2704.372580373636, + 1937.9794103602403, + 39.04033809345507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2706.9706565849892, + 1939.4794103602403, + 39.04033809345507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2709.5687327963424, + 1940.9794103602403, + 39.04033809345507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2712.1668090076955, + 1942.4794103602403, + 39.04033809345507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2714.7648852190487, + 1943.9794103602403, + 39.04033809345507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2717.362961430402, + 1945.4794103602403, + 39.04033809345507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2719.961037641755, + 1946.9794103602403, + 39.04033809345507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2722.559113853108, + 1948.4794103602403, + 39.04033809345507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2725.1571900644612, + 1949.9794103602403, + 39.04033809345507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2727.7552662758144, + 1951.4794103602403, + 39.04033809345507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2730.3533424871675, + 1952.9794103602403, + 39.04033809345507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2732.9514186985207, + 1954.4794103602403, + 39.04033809345507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2735.549494909874, + 1955.9794103602403, + 39.04033809345507 + ], + "type": "turn right", + "value": 30, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2735.549494909874, + 1955.9794103602403, + 39.04033809345507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931673 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2737.049494909874, + 1958.5774865715937, + 39.04033809345507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2738.549494909874, + 1961.175562782947, + 39.04033809345507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2740.049494909874, + 1963.7736389943004, + 39.04033809345507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2741.549494909874, + 1966.3717152056538, + 39.04033809345507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2743.049494909874, + 1968.9697914170072, + 39.04033809345507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2744.549494909874, + 1971.5678676283605, + 39.04033809345507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2746.049494909874, + 1974.165943839714, + 39.04033809345507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2747.549494909874, + 1976.7640200510673, + 39.04033809345507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2749.049494909874, + 1979.3620962624207, + 39.04033809345507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -2750.549494909874, + 1981.960172473774, + 39.04033809345507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -2752.049494909874, + 1984.5582486851274, + 39.04033809345507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -2753.549494909874, + 1987.1563248964808, + 39.04033809345507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -2755.049494909874, + 1989.7544011078342, + 39.04033809345507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -2756.549494909874, + 1992.3524773191875, + 39.04033809345507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -2758.049494909874, + 1994.950553530541, + 39.04033809345507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -2759.549494909874, + 1997.5486297418943, + 39.04033809345507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -2761.049494909874, + 2000.1467059532476, + 39.04033809345507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -2762.549494909874, + 2002.744782164601, + 39.04033809345507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -2764.049494909874, + 2005.3428583759544, + 39.04033809345507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -2765.549494909874, + 2007.9409345873078, + 39.04033809345507 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2796.0, + 2036.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_13-43-40_1218272784/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_13-43-40_1218272784/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8c79b16da630c51889c184a28e2551c14c0f1902 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_13-43-40_1218272784/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4987.8011276822945, + -148.0488383191223, + 25.09208105505789 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4986.3011276822945, + -150.6469145304756, + 25.09208105505789 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4984.8011276822945, + -153.24499074182893, + 25.09208105505789 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4983.3011276822945, + -155.84306695318224, + 25.09208105505789 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4981.8011276822945, + -158.44114316453556, + 25.09208105505789 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4980.3011276822945, + -161.03921937588888, + 25.09208105505789 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4978.8011276822945, + -163.6372955872422, + 25.09208105505789 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4977.3011276822945, + -166.2353717985955, + 25.09208105505789 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4975.8011276822945, + -168.83344800994882, + 25.09208105505789 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4974.3011276822945, + -171.43152422130214, + 25.09208105505789 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4972.8011276822945, + -174.02960043265546, + 25.09208105505789 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4971.3011276822945, + -176.62767664400877, + 25.09208105505789 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4969.8011276822945, + -179.2257528553621, + 25.09208105505789 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4968.3011276822945, + -181.8238290667154, + 25.09208105505789 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4966.8011276822945, + -184.42190527806872, + 25.09208105505789 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4965.3011276822945, + -187.01998148942204, + 25.09208105505789 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 4963.8011276822945, + -189.61805770077535, + 25.09208105505789 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 4962.3011276822945, + -192.21613391212867, + 25.09208105505789 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 4960.8011276822945, + -194.81421012348198, + 25.09208105505789 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 4959.3011276822945, + -197.4122863348353, + 25.09208105505789 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 4957.8011276822945, + -200.01036254618862, + 25.09208105505789 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 4956.3011276822945, + -202.60843875754193, + 25.09208105505789 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 4954.8011276822945, + -205.20651496889525, + 25.09208105505789 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 4953.3011276822945, + -207.80459118024856, + 25.09208105505789 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 4951.8011276822945, + -210.40266739160188, + 25.09208105505789 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 4950.3011276822945, + -213.0007436029552, + 25.09208105505789 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 4948.8011276822945, + -215.5988198143085, + 25.09208105505789 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 4948.8011276822945, + -215.5988198143085, + 25.09208105505789 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 4948.8011276822945, + -218.5988198143085, + 25.09208105505789 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 4948.8011276822945, + -221.5988198143085, + 25.09208105505789 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 4948.8011276822945, + -224.5988198143085, + 25.09208105505789 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 4948.8011276822945, + -227.5988198143085, + 25.09208105505789 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 4948.8011276822945, + -230.5988198143085, + 25.09208105505789 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 4948.8011276822945, + -233.5988198143085, + 25.09208105505789 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 4948.8011276822945, + -236.5988198143085, + 25.09208105505789 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 4948.8011276822945, + -239.5988198143085, + 25.09208105505789 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 4948.8011276822945, + -242.5988198143085, + 25.09208105505789 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 4948.8011276822945, + -245.5988198143085, + 25.09208105505789 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 4948.8011276822945, + -248.5988198143085, + 25.09208105505789 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 4948.8011276822945, + -251.5988198143085, + 25.09208105505789 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 4948.8011276822945, + -251.5988198143085, + 25.09208105505789 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 4947.3011276822945, + -254.19689602566183, + 25.09208105505789 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 4945.8011276822945, + -256.79497223701514, + 25.09208105505789 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 4944.3011276822945, + -259.39304844836846, + 25.09208105505789 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 4942.8011276822945, + -261.9911246597218, + 25.09208105505789 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 4941.3011276822945, + -264.5892008710751, + 25.09208105505789 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 4939.8011276822945, + -267.1872770824284, + 25.09208105505789 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 4938.3011276822945, + -269.7853532937817, + 25.09208105505789 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 4936.8011276822945, + -272.38342950513504, + 25.09208105505789 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 4935.3011276822945, + -274.98150571648836, + 25.09208105505789 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 4933.8011276822945, + -277.5795819278417, + 25.09208105505789 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4924.0, + -296.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_13-54-30_689710555/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_13-54-30_689710555/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..614fe4f2890b6534e64be4716b5aa2f104a603e7 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_13-54-30_689710555/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -747.3063567516357, + -560.6820601681314, + 35.456451967988734 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -748.8063567516357, + -558.0839839567782, + 35.456451967988734 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -750.3063567516357, + -555.4859077454248, + 35.456451967988734 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -751.8063567516357, + -552.8878315340714, + 35.456451967988734 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -753.3063567516357, + -550.2897553227181, + 35.456451967988734 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -754.8063567516357, + -547.6916791113647, + 35.456451967988734 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -756.3063567516357, + -545.0936029000113, + 35.456451967988734 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -757.8063567516357, + -542.495526688658, + 35.456451967988734 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -759.3063567516357, + -539.8974504773046, + 35.456451967988734 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -760.8063567516357, + -537.2993742659512, + 35.456451967988734 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -762.3063567516357, + -534.7012980545978, + 35.456451967988734 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -763.8063567516357, + -532.1032218432445, + 35.456451967988734 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -765.3063567516357, + -529.5051456318911, + 35.456451967988734 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -766.8063567516357, + -526.9070694205377, + 35.456451967988734 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -768.3063567516357, + -524.3089932091843, + 35.456451967988734 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -769.8063567516357, + -521.710916997831, + 35.456451967988734 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -771.3063567516357, + -519.1128407864776, + 35.456451967988734 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -772.8063567516357, + -516.5147645751242, + 35.456451967988734 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -774.3063567516357, + -513.9166883637708, + 35.456451967988734 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -775.8063567516357, + -511.31861215241753, + 35.456451967988734 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -777.3063567516357, + -508.7205359410642, + 35.456451967988734 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -778.8063567516357, + -506.1224597297109, + 35.456451967988734 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -780.3063567516357, + -503.5243835183576, + 35.456451967988734 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -781.8063567516357, + -500.92630730700427, + 35.456451967988734 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -783.3063567516357, + -498.32823109565095, + 35.456451967988734 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -784.8063567516357, + -495.73015488429763, + 35.456451967988734 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -786.3063567516357, + -493.1320786729443, + 35.456451967988734 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -787.8063567516357, + -490.534002461591, + 35.456451967988734 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -789.3063567516357, + -487.9359262502377, + 35.456451967988734 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -790.8063567516357, + -485.33785003888437, + 35.456451967988734 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -792.3063567516357, + -482.73977382753105, + 35.456451967988734 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -793.8063567516357, + -480.14169761617774, + 35.456451967988734 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -795.3063567516357, + -477.5436214048244, + 35.456451967988734 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -796.8063567516357, + -474.9455451934711, + 35.456451967988734 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -798.3063567516357, + -472.3474689821178, + 35.456451967988734 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -799.8063567516357, + -469.7493927707645, + 35.456451967988734 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -801.3063567516357, + -467.15131655941116, + 35.456451967988734 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -802.8063567516357, + -464.55324034805784, + 35.456451967988734 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -802.8063567516357, + -464.55324034805784, + 35.456451967988734 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -805.404432962989, + -463.05324034805784, + 35.456451967988734 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -808.0025091743423, + -461.55324034805784, + 35.456451967988734 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -810.6005853856957, + -460.05324034805784, + 35.456451967988734 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -813.1986615970491, + -458.55324034805784, + 35.456451967988734 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -815.7967378084024, + -457.05324034805784, + 35.456451967988734 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -818.3948140197558, + -455.55324034805784, + 35.456451967988734 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -820.9928902311092, + -454.05324034805784, + 35.456451967988734 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -823.5909664424626, + -452.55324034805784, + 35.456451967988734 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -844.0, + -424.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_13-55-38_2128349144/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_13-55-38_2128349144/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..14d3cfc17d76e8331d2aade61b678a9ea81c9ecf --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_13-55-38_2128349144/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2274.5066359775788, + -2972.4916604607306, + 36.315722870102604 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2271.9085597662256, + -2970.9916604607306, + 36.315722870102604 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2269.3104835548725, + -2969.4916604607306, + 36.315722870102604 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2266.7124073435193, + -2967.9916604607306, + 36.315722870102604 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2264.114331132166, + -2966.4916604607306, + 36.315722870102604 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2261.516254920813, + -2964.9916604607306, + 36.315722870102604 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2258.91817870946, + -2963.4916604607306, + 36.315722870102604 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2256.3201024981067, + -2961.9916604607306, + 36.315722870102604 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2256.3201024981067, + -2961.9916604607306, + 36.315722870102604 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535897647 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 2253.3201024981067, + -2961.9916604607306, + 36.315722870102604 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2250.3201024981067, + -2961.9916604607306, + 36.315722870102604 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2247.3201024981067, + -2961.9916604607306, + 36.315722870102604 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 2244.3201024981067, + -2961.9916604607306, + 36.315722870102604 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 2241.3201024981067, + -2961.9916604607306, + 36.315722870102604 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 2238.3201024981067, + -2961.9916604607306, + 36.315722870102604 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 2235.3201024981067, + -2961.9916604607306, + 36.315722870102604 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 2232.3201024981067, + -2961.9916604607306, + 36.315722870102604 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 2229.3201024981067, + -2961.9916604607306, + 36.315722870102604 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 2226.3201024981067, + -2961.9916604607306, + 36.315722870102604 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 2226.3201024981067, + -2961.9916604607306, + 36.315722870102604 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 2223.7220262867536, + -2960.4916604607306, + 36.315722870102604 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 2221.1239500754004, + -2958.9916604607306, + 36.315722870102604 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 2218.5258738640473, + -2957.4916604607306, + 36.315722870102604 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 2215.927797652694, + -2955.9916604607306, + 36.315722870102604 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 2213.329721441341, + -2954.4916604607306, + 36.315722870102604 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 2210.731645229988, + -2952.9916604607306, + 36.315722870102604 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 2208.1335690186347, + -2951.4916604607306, + 36.315722870102604 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 2205.5354928072816, + -2949.9916604607306, + 36.315722870102604 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 2202.9374165959284, + -2948.4916604607306, + 36.315722870102604 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 2200.3393403845753, + -2946.9916604607306, + 36.315722870102604 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 2197.741264173222, + -2945.4916604607306, + 36.315722870102604 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 2195.143187961869, + -2943.9916604607306, + 36.315722870102604 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 2192.545111750516, + -2942.4916604607306, + 36.315722870102604 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 2189.9470355391627, + -2940.9916604607306, + 36.315722870102604 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 2187.3489593278096, + -2939.4916604607306, + 36.315722870102604 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 2184.7508831164564, + -2937.9916604607306, + 36.315722870102604 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 2182.1528069051033, + -2936.4916604607306, + 36.315722870102604 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 2179.55473069375, + -2934.9916604607306, + 36.315722870102604 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 2176.956654482397, + -2933.4916604607306, + 36.315722870102604 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 2174.358578271044, + -2931.9916604607306, + 36.315722870102604 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 2171.7605020596907, + -2930.4916604607306, + 36.315722870102604 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 2169.1624258483375, + -2928.9916604607306, + 36.315722870102604 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 2166.5643496369844, + -2927.4916604607306, + 36.315722870102604 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 2163.9662734256312, + -2925.9916604607306, + 36.315722870102604 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 2161.368197214278, + -2924.4916604607306, + 36.315722870102604 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 2158.770121002925, + -2922.9916604607306, + 36.315722870102604 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 2156.172044791572, + -2921.4916604607306, + 36.315722870102604 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 2153.5739685802187, + -2919.9916604607306, + 36.315722870102604 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 2150.9758923688655, + -2918.4916604607306, + 36.315722870102604 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 2148.3778161575124, + -2916.9916604607306, + 36.315722870102604 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 2145.779739946159, + -2915.4916604607306, + 36.315722870102604 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 2143.181663734806, + -2913.9916604607306, + 36.315722870102604 + ], + "type": "stop", + "value": 0, + "yaw": 2.617993877991466 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2116.0, + -2900.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_13-56-29_568637651/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_13-56-29_568637651/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9302ba26a825f6a99e4664d1b16db52d8fcccc40 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_13-56-29_568637651/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1798.1902347378227, + -6.531660484956021, + 32.91327499655175 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1800.788310949176, + -8.03166048495602, + 32.91327499655175 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1803.3863871605295, + -9.53166048495602, + 32.91327499655175 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1805.9844633718828, + -11.03166048495602, + 32.91327499655175 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1808.5825395832362, + -12.53166048495602, + 32.91327499655175 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1811.1806157945896, + -14.03166048495602, + 32.91327499655175 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1813.778692005943, + -15.53166048495602, + 32.91327499655175 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1816.3767682172963, + -17.03166048495602, + 32.91327499655175 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1818.9748444286497, + -18.53166048495602, + 32.91327499655175 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1821.572920640003, + -20.03166048495602, + 32.91327499655175 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1824.1709968513564, + -21.53166048495602, + 32.91327499655175 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1826.7690730627098, + -23.03166048495602, + 32.91327499655175 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1829.3671492740632, + -24.53166048495602, + 32.91327499655175 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1831.9652254854166, + -26.03166048495602, + 32.91327499655175 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1834.56330169677, + -27.53166048495602, + 32.91327499655175 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1837.1613779081233, + -29.03166048495602, + 32.91327499655175 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1839.7594541194767, + -30.53166048495602, + 32.91327499655175 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1842.35753033083, + -32.03166048495602, + 32.91327499655175 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1844.9556065421834, + -33.53166048495602, + 32.91327499655175 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1847.5536827535368, + -35.03166048495602, + 32.91327499655175 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1850.1517589648902, + -36.53166048495602, + 32.91327499655175 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1852.7498351762436, + -38.03166048495602, + 32.91327499655175 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1855.347911387597, + -39.53166048495602, + 32.91327499655175 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1857.9459875989503, + -41.03166048495602, + 32.91327499655175 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1860.5440638103037, + -42.53166048495602, + 32.91327499655175 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1863.142140021657, + -44.03166048495602, + 32.91327499655175 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1865.7402162330104, + -45.53166048495602, + 32.91327499655175 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1868.3382924443638, + -47.03166048495602, + 32.91327499655175 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1868.3382924443638, + -47.03166048495602, + 32.91327499655175 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1869.8382924443638, + -49.62973669630934, + 32.91327499655175 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1871.3382924443638, + -52.22781290766265, + 32.91327499655175 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1872.8382924443638, + -54.82588911901597, + 32.91327499655175 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1874.3382924443638, + -57.423965330369285, + 32.91327499655175 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1875.8382924443638, + -60.0220415417226, + 32.91327499655175 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1877.3382924443638, + -62.62011775307592, + 32.91327499655175 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1878.8382924443638, + -65.21819396442923, + 32.91327499655175 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1880.3382924443638, + -67.81627017578255, + 32.91327499655175 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1881.8382924443638, + -70.41434638713586, + 32.91327499655175 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1883.3382924443638, + -73.01242259848918, + 32.91327499655175 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1884.8382924443638, + -75.6104988098425, + 32.91327499655175 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1886.3382924443638, + -78.20857502119581, + 32.91327499655175 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1887.8382924443638, + -80.80665123254913, + 32.91327499655175 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1889.3382924443638, + -83.40472744390244, + 32.91327499655175 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1890.8382924443638, + -86.00280365525576, + 32.91327499655175 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1892.3382924443638, + -88.60087986660908, + 32.91327499655175 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1893.8382924443638, + -91.19895607796239, + 32.91327499655175 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1895.3382924443638, + -93.79703228931571, + 32.91327499655175 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1896.8382924443638, + -96.39510850066902, + 32.91327499655175 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1898.3382924443638, + -98.99318471202234, + 32.91327499655175 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1899.8382924443638, + -101.59126092337566, + 32.91327499655175 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1901.3382924443638, + -104.18933713472897, + 32.91327499655175 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1902.8382924443638, + -106.78741334608229, + 32.91327499655175 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1904.3382924443638, + -109.3854895574356, + 32.91327499655175 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1905.8382924443638, + -111.98356576878892, + 32.91327499655175 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1907.3382924443638, + -114.58164198014224, + 32.91327499655175 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1924.0, + -132.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_13-57-0_681928291/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_13-57-0_681928291/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..80207ad98765741659b6b457b3af5deaac05f61c --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_13-57-0_681928291/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3820.021508030408, + -20.533624786496432, + 36.8393048124516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3823.021508030408, + -20.533624786496432, + 36.8393048124516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3826.021508030408, + -20.533624786496432, + 36.8393048124516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3829.021508030408, + -20.533624786496432, + 36.8393048124516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3832.021508030408, + -20.533624786496432, + 36.8393048124516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3835.021508030408, + -20.533624786496432, + 36.8393048124516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3838.021508030408, + -20.533624786496432, + 36.8393048124516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3841.021508030408, + -20.533624786496432, + 36.8393048124516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 3844.021508030408, + -20.533624786496432, + 36.8393048124516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 3847.021508030408, + -20.533624786496432, + 36.8393048124516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 3850.021508030408, + -20.533624786496432, + 36.8393048124516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 3853.021508030408, + -20.533624786496432, + 36.8393048124516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 3856.021508030408, + -20.533624786496432, + 36.8393048124516 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 3856.021508030408, + -20.533624786496432, + 36.8393048124516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 3858.619584241761, + -19.033624786496432, + 36.8393048124516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 3861.217660453114, + -17.533624786496432, + 36.8393048124516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 3863.8157366644673, + -16.033624786496432, + 36.8393048124516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 3866.4138128758204, + -14.533624786496432, + 36.8393048124516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 3869.0118890871736, + -13.033624786496432, + 36.8393048124516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 3871.6099652985267, + -11.533624786496432, + 36.8393048124516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 3874.20804150988, + -10.033624786496432, + 36.8393048124516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 3876.806117721233, + -8.533624786496432, + 36.8393048124516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 3879.404193932586, + -7.033624786496432, + 36.8393048124516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 3882.0022701439393, + -5.533624786496432, + 36.8393048124516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 3884.6003463552925, + -4.033624786496432, + 36.8393048124516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 3887.1984225666456, + -2.533624786496432, + 36.8393048124516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 3889.7964987779987, + -1.0336247864964323, + 36.8393048124516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 3892.394574989352, + 0.4663752135035675, + 36.8393048124516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 3894.992651200705, + 1.9663752135035673, + 36.8393048124516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 3897.590727412058, + 3.466375213503567, + 36.8393048124516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 3900.1888036234113, + 4.966375213503567, + 36.8393048124516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 3902.7868798347645, + 6.466375213503567, + 36.8393048124516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 3905.3849560461176, + 7.966375213503567, + 36.8393048124516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 3907.9830322574708, + 9.466375213503566, + 36.8393048124516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598327 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 3910.581108468824, + 10.966375213503566, + 36.8393048124516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 3913.179184680177, + 12.466375213503566, + 36.8393048124516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 3915.77726089153, + 13.966375213503566, + 36.8393048124516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 3918.3753371028833, + 15.466375213503566, + 36.8393048124516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 3920.9734133142365, + 16.966375213503564, + 36.8393048124516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983268 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 3923.5714895255896, + 18.466375213503564, + 36.8393048124516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 3926.169565736943, + 19.966375213503564, + 36.8393048124516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 3928.767641948296, + 21.466375213503564, + 36.8393048124516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 3931.365718159649, + 22.966375213503564, + 36.8393048124516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 3933.963794371002, + 24.466375213503564, + 36.8393048124516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 3936.5618705823554, + 25.966375213503564, + 36.8393048124516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 3939.1599467937085, + 27.466375213503564, + 36.8393048124516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 3941.7580230050617, + 28.966375213503564, + 36.8393048124516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 3944.356099216415, + 30.466375213503564, + 36.8393048124516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 3946.954175427768, + 31.966375213503564, + 36.8393048124516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 3949.552251639121, + 33.46637521350356, + 36.8393048124516 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755983272 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3972.0, + 44.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_13-58-27_1786910435/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_13-58-27_1786910435/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..992e049ab034f34f6050cfbe365c6bc19a71ebab --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_13-58-27_1786910435/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1711.618991441836, + -1779.1188740621137, + 24.24624515465016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1708.618991441836, + -1779.1188740621137, + 24.24624515465016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1705.618991441836, + -1779.1188740621137, + 24.24624515465016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1702.618991441836, + -1779.1188740621137, + 24.24624515465016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1699.618991441836, + -1779.1188740621137, + 24.24624515465016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1696.618991441836, + -1779.1188740621137, + 24.24624515465016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1693.618991441836, + -1779.1188740621137, + 24.24624515465016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1690.618991441836, + -1779.1188740621137, + 24.24624515465016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1687.618991441836, + -1779.1188740621137, + 24.24624515465016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1684.618991441836, + -1779.1188740621137, + 24.24624515465016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1681.618991441836, + -1779.1188740621137, + 24.24624515465016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1678.618991441836, + -1779.1188740621137, + 24.24624515465016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1675.618991441836, + -1779.1188740621137, + 24.24624515465016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1672.618991441836, + -1779.1188740621137, + 24.24624515465016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1669.618991441836, + -1779.1188740621137, + 24.24624515465016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1666.618991441836, + -1779.1188740621137, + 24.24624515465016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1663.618991441836, + -1779.1188740621137, + 24.24624515465016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1660.618991441836, + -1779.1188740621137, + 24.24624515465016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1657.618991441836, + -1779.1188740621137, + 24.24624515465016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1654.618991441836, + -1779.1188740621137, + 24.24624515465016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1651.618991441836, + -1779.1188740621137, + 24.24624515465016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1648.618991441836, + -1779.1188740621137, + 24.24624515465016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1645.618991441836, + -1779.1188740621137, + 24.24624515465016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1642.618991441836, + -1779.1188740621137, + 24.24624515465016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1639.618991441836, + -1779.1188740621137, + 24.24624515465016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1636.618991441836, + -1779.1188740621137, + 24.24624515465016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1633.618991441836, + -1779.1188740621137, + 24.24624515465016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1630.618991441836, + -1779.1188740621137, + 24.24624515465016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1627.618991441836, + -1779.1188740621137, + 24.24624515465016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1624.618991441836, + -1779.1188740621137, + 24.24624515465016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1621.618991441836, + -1779.1188740621137, + 24.24624515465016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1618.618991441836, + -1779.1188740621137, + 24.24624515465016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1615.618991441836, + -1779.1188740621137, + 24.24624515465016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1612.618991441836, + -1779.1188740621137, + 24.24624515465016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1609.618991441836, + -1779.1188740621137, + 24.24624515465016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1606.618991441836, + -1779.1188740621137, + 24.24624515465016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1603.618991441836, + -1779.1188740621137, + 24.24624515465016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1600.618991441836, + -1779.1188740621137, + 24.24624515465016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1597.618991441836, + -1779.1188740621137, + 24.24624515465016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1594.618991441836, + -1779.1188740621137, + 24.24624515465016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1591.618991441836, + -1779.1188740621137, + 24.24624515465016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1588.618991441836, + -1779.1188740621137, + 24.24624515465016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1585.618991441836, + -1779.1188740621137, + 24.24624515465016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1582.618991441836, + -1779.1188740621137, + 24.24624515465016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1579.618991441836, + -1779.1188740621137, + 24.24624515465016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1576.618991441836, + -1779.1188740621137, + 24.24624515465016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1573.618991441836, + -1779.1188740621137, + 24.24624515465016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1570.618991441836, + -1779.1188740621137, + 24.24624515465016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1567.618991441836, + -1779.1188740621137, + 24.24624515465016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1564.618991441836, + -1779.1188740621137, + 24.24624515465016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -1561.618991441836, + -1779.1188740621137, + 24.24624515465016 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1532.0, + -1776.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_13-7-45_1944216249/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_13-7-45_1944216249/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ee3b496aa1eb84768f6cc625aca42cf99a4560a8 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_13-7-45_1944216249/pose.jsonl @@ -0,0 +1,340 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4536.293890518734, + -1934.914593104911, + 32.326692792592056 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4537.793890518734, + -1937.5126693162645, + 32.326692792592056 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4539.293890518734, + -1940.1107455276178, + 32.326692792592056 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4540.793890518734, + -1942.7088217389712, + 32.326692792592056 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4542.293890518734, + -1945.3068979503246, + 32.326692792592056 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4543.793890518734, + -1947.904974161678, + 32.326692792592056 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4545.293890518734, + -1950.5030503730313, + 32.326692792592056 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4546.793890518734, + -1953.1011265843847, + 32.326692792592056 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4548.293890518734, + -1955.699202795738, + 32.326692792592056 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4549.793890518734, + -1958.2972790070914, + 32.326692792592056 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4551.293890518734, + -1960.8953552184448, + 32.326692792592056 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4552.793890518734, + -1963.4934314297982, + 32.326692792592056 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4554.293890518734, + -1966.0915076411516, + 32.326692792592056 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4555.793890518734, + -1968.689583852505, + 32.326692792592056 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4557.293890518734, + -1971.2876600638583, + 32.326692792592056 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4558.793890518734, + -1973.8857362752117, + 32.326692792592056 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 4560.293890518734, + -1976.483812486565, + 32.326692792592056 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 4561.793890518734, + -1979.0818886979184, + 32.326692792592056 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 4563.293890518734, + -1981.6799649092718, + 32.326692792592056 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 4564.793890518734, + -1984.2780411206252, + 32.326692792592056 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 4566.293890518734, + -1986.8761173319785, + 32.326692792592056 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 4567.793890518734, + -1989.474193543332, + 32.326692792592056 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 4569.293890518734, + -1992.0722697546853, + 32.326692792592056 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 4570.793890518734, + -1994.6703459660387, + 32.326692792592056 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 4572.293890518734, + -1997.268422177392, + 32.326692792592056 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4616.0, + -2064.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_13-9-24_1891363558/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_13-9-24_1891363558/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..541172e2591b73e1507459bd7877a7c9659d0f19 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_13-9-24_1891363558/pose.jsonl @@ -0,0 +1,522 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2513.430712501396, + -2629.7184587994816, + 18.168046139776813 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2514.930712501396, + -2632.3165350108347, + 18.168046139776813 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2516.430712501396, + -2634.914611222188, + 18.168046139776813 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2517.930712501396, + -2637.512687433541, + 18.168046139776813 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2519.430712501396, + -2640.110763644894, + 18.168046139776813 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2520.930712501396, + -2642.7088398562473, + 18.168046139776813 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2522.430712501396, + -2645.3069160676005, + 18.168046139776813 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2523.930712501396, + -2647.9049922789536, + 18.168046139776813 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2525.430712501396, + -2650.5030684903068, + 18.168046139776813 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2526.930712501396, + -2653.10114470166, + 18.168046139776813 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2528.430712501396, + -2655.699220913013, + 18.168046139776813 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2529.930712501396, + -2658.297297124366, + 18.168046139776813 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2531.430712501396, + -2660.8953733357193, + 18.168046139776813 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2532.930712501396, + -2663.4934495470725, + 18.168046139776813 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2534.430712501396, + -2666.0915257584256, + 18.168046139776813 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2535.930712501396, + -2668.689601969779, + 18.168046139776813 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2537.430712501396, + -2671.287678181132, + 18.168046139776813 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2538.930712501396, + -2673.885754392485, + 18.168046139776813 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2540.430712501396, + -2676.483830603838, + 18.168046139776813 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2541.930712501396, + -2679.0819068151914, + 18.168046139776813 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2543.430712501396, + -2681.6799830265445, + 18.168046139776813 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2544.930712501396, + -2684.2780592378977, + 18.168046139776813 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2546.430712501396, + -2686.876135449251, + 18.168046139776813 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2547.930712501396, + -2689.474211660604, + 18.168046139776813 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2549.430712501396, + -2692.072287871957, + 18.168046139776813 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2550.930712501396, + -2694.6703640833102, + 18.168046139776813 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2552.430712501396, + -2697.2684402946634, + 18.168046139776813 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2553.930712501396, + -2699.8665165060165, + 18.168046139776813 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2555.430712501396, + -2702.4645927173697, + 18.168046139776813 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2556.930712501396, + -2705.062668928723, + 18.168046139776813 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2558.430712501396, + -2707.660745140076, + 18.168046139776813 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2559.930712501396, + -2710.258821351429, + 18.168046139776813 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2561.430712501396, + -2712.8568975627823, + 18.168046139776813 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2562.930712501396, + -2715.4549737741354, + 18.168046139776813 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2562.930712501396, + -2715.4549737741354, + 18.168046139776813 + ], + "type": "go straight", + "value": 3, + "yaw": -1.570796326794925 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -2562.930712501396, + -2718.4549737741354, + 18.168046139776813 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -2562.930712501396, + -2721.4549737741354, + 18.168046139776813 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -2562.930712501396, + -2724.4549737741354, + 18.168046139776813 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -2562.930712501396, + -2727.4549737741354, + 18.168046139776813 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2592.0, + -2784.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_14-20-49_1970782719/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_14-20-49_1970782719/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d3df21e0fd5ae39a6fb98142efc097375dc52307 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_14-20-49_1970782719/pose.jsonl @@ -0,0 +1,756 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3370.3177373231424, + -282.3890754027186, + 26.083731753024672 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3371.8177373231424, + -284.98715161407193, + 26.083731753024672 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3373.3177373231424, + -287.58522782542525, + 26.083731753024672 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3374.8177373231424, + -290.18330403677857, + 26.083731753024672 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3376.3177373231424, + -292.7813802481319, + 26.083731753024672 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3377.8177373231424, + -295.3794564594852, + 26.083731753024672 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3379.3177373231424, + -297.9775326708385, + 26.083731753024672 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3380.8177373231424, + -300.57560888219183, + 26.083731753024672 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 3382.3177373231424, + -303.17368509354515, + 26.083731753024672 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 3383.8177373231424, + -305.77176130489846, + 26.083731753024672 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 3385.3177373231424, + -308.3698375162518, + 26.083731753024672 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 3386.8177373231424, + -310.9679137276051, + 26.083731753024672 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 3388.3177373231424, + -313.5659899389584, + 26.083731753024672 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 3389.8177373231424, + -316.1640661503117, + 26.083731753024672 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 3391.3177373231424, + -318.76214236166504, + 26.083731753024672 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 3392.8177373231424, + -321.36021857301836, + 26.083731753024672 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 3394.3177373231424, + -323.9582947843717, + 26.083731753024672 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 3395.8177373231424, + -326.556370995725, + 26.083731753024672 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 3397.3177373231424, + -329.1544472070783, + 26.083731753024672 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 3398.8177373231424, + -331.7525234184316, + 26.083731753024672 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 3400.3177373231424, + -334.35059962978494, + 26.083731753024672 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 3401.8177373231424, + -336.94867584113825, + 26.083731753024672 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 3403.3177373231424, + -339.54675205249157, + 26.083731753024672 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 3404.8177373231424, + -342.1448282638449, + 26.083731753024672 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 3406.3177373231424, + -344.7429044751982, + 26.083731753024672 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 3407.8177373231424, + -347.3409806865515, + 26.083731753024672 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 3409.3177373231424, + -349.93905689790483, + 26.083731753024672 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 3410.8177373231424, + -352.53713310925815, + 26.083731753024672 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 3412.3177373231424, + -355.13520932061147, + 26.083731753024672 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 3413.8177373231424, + -357.7332855319648, + 26.083731753024672 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 3415.3177373231424, + -360.3313617433181, + 26.083731753024672 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 3416.8177373231424, + -362.9294379546714, + 26.083731753024672 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 3418.3177373231424, + -365.52751416602473, + 26.083731753024672 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 3419.8177373231424, + -368.12559037737805, + 26.083731753024672 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 3419.8177373231424, + -368.12559037737805, + 26.083731753024672 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 3419.8177373231424, + -371.12559037737805, + 26.083731753024672 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 3419.8177373231424, + -374.12559037737805, + 26.083731753024672 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 3419.8177373231424, + -377.12559037737805, + 26.083731753024672 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 3419.8177373231424, + -380.12559037737805, + 26.083731753024672 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 3419.8177373231424, + -383.12559037737805, + 26.083731753024672 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 3419.8177373231424, + -386.12559037737805, + 26.083731753024672 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 3419.8177373231424, + -389.12559037737805, + 26.083731753024672 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 3419.8177373231424, + -392.12559037737805, + 26.083731753024672 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 3419.8177373231424, + -395.12559037737805, + 26.083731753024672 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 3419.8177373231424, + -395.12559037737805, + 26.083731753024672 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 3421.3177373231424, + -397.72366658873136, + 26.083731753024672 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 3422.8177373231424, + -400.3217428000847, + 26.083731753024672 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 3424.3177373231424, + -402.919819011438, + 26.083731753024672 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 3425.8177373231424, + -405.5178952227913, + 26.083731753024672 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 3427.3177373231424, + -408.1159714341446, + 26.083731753024672 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 3428.8177373231424, + -410.71404764549794, + 26.083731753024672 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 3430.3177373231424, + -413.31212385685126, + 26.083731753024672 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 3431.8177373231424, + -415.9102000682046, + 26.083731753024672 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 3433.3177373231424, + -418.5082762795579, + 26.083731753024672 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 3433.3177373231424, + -418.5082762795579, + 26.083731753024672 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 3435.9158135344956, + -420.0082762795579, + 26.083731753024672 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 3438.5138897458487, + -421.5082762795579, + 26.083731753024672 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755983272 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3448.0, + -440.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_14-27-4_922883852/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_14-27-4_922883852/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cd175d341494aab5112f11d454fd67cd5f7bc22c --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_14-27-4_922883852/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4593.006966986581, + 2476.546945308029, + 16.57201317760873 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4593.006966986581, + 2473.546945308029, + 16.57201317760873 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4593.006966986581, + 2470.546945308029, + 16.57201317760873 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4593.006966986581, + 2467.546945308029, + 16.57201317760873 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4593.006966986581, + 2464.546945308029, + 16.57201317760873 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4593.006966986581, + 2461.546945308029, + 16.57201317760873 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4593.006966986581, + 2458.546945308029, + 16.57201317760873 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4593.006966986581, + 2455.546945308029, + 16.57201317760873 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4593.006966986581, + 2452.546945308029, + 16.57201317760873 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4593.006966986581, + 2449.546945308029, + 16.57201317760873 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4593.006966986581, + 2446.546945308029, + 16.57201317760873 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4593.006966986581, + 2443.546945308029, + 16.57201317760873 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4593.006966986581, + 2440.546945308029, + 16.57201317760873 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4593.006966986581, + 2437.546945308029, + 16.57201317760873 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4593.006966986581, + 2434.546945308029, + 16.57201317760873 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4593.006966986581, + 2431.546945308029, + 16.57201317760873 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 4593.006966986581, + 2428.546945308029, + 16.57201317760873 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 4593.006966986581, + 2425.546945308029, + 16.57201317760873 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 4593.006966986581, + 2422.546945308029, + 16.57201317760873 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 4593.006966986581, + 2419.546945308029, + 16.57201317760873 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 4593.006966986581, + 2416.546945308029, + 16.57201317760873 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 4593.006966986581, + 2413.546945308029, + 16.57201317760873 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 4593.006966986581, + 2410.546945308029, + 16.57201317760873 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 4593.006966986581, + 2407.546945308029, + 16.57201317760873 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 4593.006966986581, + 2404.546945308029, + 16.57201317760873 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 4593.006966986581, + 2401.546945308029, + 16.57201317760873 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 4593.006966986581, + 2398.546945308029, + 16.57201317760873 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 4593.006966986581, + 2395.546945308029, + 16.57201317760873 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 4593.006966986581, + 2392.546945308029, + 16.57201317760873 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 4593.006966986581, + 2389.546945308029, + 16.57201317760873 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 4593.006966986581, + 2386.546945308029, + 16.57201317760873 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 4593.006966986581, + 2383.546945308029, + 16.57201317760873 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 4593.006966986581, + 2380.546945308029, + 16.57201317760873 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 4593.006966986581, + 2380.546945308029, + 16.57201317760873 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 4591.506966986581, + 2377.948869096676, + 16.57201317760873 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 4590.006966986581, + 2375.350792885323, + 16.57201317760873 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 4588.506966986581, + 2372.7527166739696, + 16.57201317760873 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 4587.006966986581, + 2370.1546404626165, + 16.57201317760873 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 4585.506966986581, + 2367.5565642512634, + 16.57201317760873 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 4584.006966986581, + 2364.95848803991, + 16.57201317760873 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 4582.506966986581, + 2362.360411828557, + 16.57201317760873 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 4581.006966986581, + 2359.762335617204, + 16.57201317760873 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 4579.506966986581, + 2357.1642594058508, + 16.57201317760873 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 4578.006966986581, + 2354.5661831944976, + 16.57201317760873 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 4576.506966986581, + 2351.9681069831445, + 16.57201317760873 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 4575.006966986581, + 2349.3700307717913, + 16.57201317760873 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 4573.506966986581, + 2346.771954560438, + 16.57201317760873 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 4572.006966986581, + 2344.173878349085, + 16.57201317760873 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 4570.506966986581, + 2341.575802137732, + 16.57201317760873 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 4569.006966986581, + 2338.9777259263788, + 16.57201317760873 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 4567.506966986581, + 2336.3796497150256, + 16.57201317760873 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 4566.006966986581, + 2333.7815735036725, + 16.57201317760873 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 4564.506966986581, + 2331.1834972923193, + 16.57201317760873 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023932237 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4560.0, + 2312.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_14-3-39_1683673949/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_14-3-39_1683673949/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3d1b18cafabad607f398142195fb8e937b410716 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_14-3-39_1683673949/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -453.2087343194611, + -2864.1202290340348, + 34.775568045624134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -450.2087343194611, + -2864.1202290340348, + 34.775568045624134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -447.2087343194611, + -2864.1202290340348, + 34.775568045624134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -444.2087343194611, + -2864.1202290340348, + 34.775568045624134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -441.2087343194611, + -2864.1202290340348, + 34.775568045624134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -438.2087343194611, + -2864.1202290340348, + 34.775568045624134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -435.2087343194611, + -2864.1202290340348, + 34.775568045624134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -432.2087343194611, + -2864.1202290340348, + 34.775568045624134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -429.2087343194611, + -2864.1202290340348, + 34.775568045624134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -426.2087343194611, + -2864.1202290340348, + 34.775568045624134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -423.2087343194611, + -2864.1202290340348, + 34.775568045624134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -420.2087343194611, + -2864.1202290340348, + 34.775568045624134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -417.2087343194611, + -2864.1202290340348, + 34.775568045624134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -414.2087343194611, + -2864.1202290340348, + 34.775568045624134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -411.2087343194611, + -2864.1202290340348, + 34.775568045624134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -408.2087343194611, + -2864.1202290340348, + 34.775568045624134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -405.2087343194611, + -2864.1202290340348, + 34.775568045624134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -402.2087343194611, + -2864.1202290340348, + 34.775568045624134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -399.2087343194611, + -2864.1202290340348, + 34.775568045624134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -396.2087343194611, + -2864.1202290340348, + 34.775568045624134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -393.2087343194611, + -2864.1202290340348, + 34.775568045624134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -390.2087343194611, + -2864.1202290340348, + 34.775568045624134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -387.2087343194611, + -2864.1202290340348, + 34.775568045624134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -384.2087343194611, + -2864.1202290340348, + 34.775568045624134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -381.2087343194611, + -2864.1202290340348, + 34.775568045624134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -378.2087343194611, + -2864.1202290340348, + 34.775568045624134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -375.2087343194611, + -2864.1202290340348, + 34.775568045624134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -372.2087343194611, + -2864.1202290340348, + 34.775568045624134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -369.2087343194611, + -2864.1202290340348, + 34.775568045624134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -366.2087343194611, + -2864.1202290340348, + 34.775568045624134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -363.2087343194611, + -2864.1202290340348, + 34.775568045624134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -360.2087343194611, + -2864.1202290340348, + 34.775568045624134 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -360.2087343194611, + -2864.1202290340348, + 34.775568045624134 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -357.61065810810777, + -2865.6202290340348, + 34.775568045624134 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -355.01258189675445, + -2867.1202290340348, + 34.775568045624134 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -352.41450568540114, + -2868.6202290340348, + 34.775568045624134 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -349.8164294740478, + -2870.1202290340348, + 34.775568045624134 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -347.2183532626945, + -2871.6202290340348, + 34.775568045624134 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -344.6202770513412, + -2873.1202290340348, + 34.775568045624134 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -342.0222008399879, + -2874.6202290340348, + 34.775568045624134 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -339.42412462863456, + -2876.1202290340348, + 34.775568045624134 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -336.82604841728124, + -2877.6202290340348, + 34.775568045624134 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -334.2279722059279, + -2879.1202290340348, + 34.775568045624134 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -331.6298959945746, + -2880.6202290340348, + 34.775568045624134 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -329.0318197832213, + -2882.1202290340348, + 34.775568045624134 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -326.433743571868, + -2883.6202290340348, + 34.775568045624134 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -323.83566736051466, + -2885.1202290340348, + 34.775568045624134 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -280.0, + -2892.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_14-30-8_429857344/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_14-30-8_429857344/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e33804be0140e997b6c2e9964abc09cfaa868feb --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_14-30-8_429857344/pose.jsonl @@ -0,0 +1,457 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2639.332804900338, + -2262.639094053885, + 33.15212347616833 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2641.930881111691, + -2261.139094053885, + 33.15212347616833 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2644.5289573230443, + -2259.639094053885, + 33.15212347616833 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2647.1270335343975, + -2258.139094053885, + 33.15212347616833 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2649.7251097457506, + -2256.639094053885, + 33.15212347616833 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2652.3231859571038, + -2255.139094053885, + 33.15212347616833 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2654.921262168457, + -2253.639094053885, + 33.15212347616833 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2657.51933837981, + -2252.139094053885, + 33.15212347616833 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2660.117414591163, + -2250.639094053885, + 33.15212347616833 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2662.7154908025163, + -2249.139094053885, + 33.15212347616833 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2665.3135670138695, + -2247.639094053885, + 33.15212347616833 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2667.9116432252226, + -2246.139094053885, + 33.15212347616833 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2670.509719436576, + -2244.639094053885, + 33.15212347616833 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2673.107795647929, + -2243.139094053885, + 33.15212347616833 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2675.705871859282, + -2241.639094053885, + 33.15212347616833 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2678.303948070635, + -2240.139094053885, + 33.15212347616833 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2680.9020242819884, + -2238.639094053885, + 33.15212347616833 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2683.5001004933415, + -2237.139094053885, + 33.15212347616833 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2686.0981767046947, + -2235.639094053885, + 33.15212347616833 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2688.696252916048, + -2234.139094053885, + 33.15212347616833 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2691.294329127401, + -2232.639094053885, + 33.15212347616833 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2693.892405338754, + -2231.139094053885, + 33.15212347616833 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2696.4904815501072, + -2229.639094053885, + 33.15212347616833 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2699.0885577614604, + -2228.139094053885, + 33.15212347616833 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2701.6866339728135, + -2226.639094053885, + 33.15212347616833 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2704.2847101841667, + -2225.139094053885, + 33.15212347616833 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2706.88278639552, + -2223.639094053885, + 33.15212347616833 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2709.480862606873, + -2222.139094053885, + 33.15212347616833 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2712.078938818226, + -2220.639094053885, + 33.15212347616833 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2714.6770150295793, + -2219.139094053885, + 33.15212347616833 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2717.2750912409324, + -2217.639094053885, + 33.15212347616833 + ], + "type": "turn right", + "value": 30, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2717.2750912409324, + -2217.639094053885, + 33.15212347616833 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931673 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2718.7750912409324, + -2215.041017842532, + 33.15212347616833 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2720.2750912409324, + -2212.4429416311787, + 33.15212347616833 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023932237 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2772.0, + -2180.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_14-32-0_1554430207/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_14-32-0_1554430207/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cd5230e7eb6155c00fee103b7505cf836458facd --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_14-32-0_1554430207/pose.jsonl @@ -0,0 +1,379 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2718.581859934186, + 1374.2284251500196, + 35.34797100590562 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2715.581859934186, + 1374.2284251500196, + 35.34797100590562 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2712.581859934186, + 1374.2284251500196, + 35.34797100590562 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2709.581859934186, + 1374.2284251500196, + 35.34797100590562 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2706.581859934186, + 1374.2284251500196, + 35.34797100590562 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2703.581859934186, + 1374.2284251500196, + 35.34797100590562 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2700.581859934186, + 1374.2284251500196, + 35.34797100590562 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2697.581859934186, + 1374.2284251500196, + 35.34797100590562 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2694.581859934186, + 1374.2284251500196, + 35.34797100590562 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2691.581859934186, + 1374.2284251500196, + 35.34797100590562 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2688.581859934186, + 1374.2284251500196, + 35.34797100590562 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2685.581859934186, + 1374.2284251500196, + 35.34797100590562 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2682.581859934186, + 1374.2284251500196, + 35.34797100590562 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2679.581859934186, + 1374.2284251500196, + 35.34797100590562 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2676.581859934186, + 1374.2284251500196, + 35.34797100590562 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2673.581859934186, + 1374.2284251500196, + 35.34797100590562 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2670.581859934186, + 1374.2284251500196, + 35.34797100590562 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2667.581859934186, + 1374.2284251500196, + 35.34797100590562 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2667.581859934186, + 1374.2284251500196, + 35.34797100590562 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2664.983783722833, + 1375.7284251500196, + 35.34797100590562 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2662.3857075114797, + 1377.2284251500196, + 35.34797100590562 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2659.7876313001266, + 1378.7284251500196, + 35.34797100590562 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2657.1895550887734, + 1380.2284251500196, + 35.34797100590562 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2654.5914788774203, + 1381.7284251500196, + 35.34797100590562 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2651.993402666067, + 1383.2284251500196, + 35.34797100590562 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2649.395326454714, + 1384.7284251500196, + 35.34797100590562 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2646.797250243361, + 1386.2284251500196, + 35.34797100590562 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2644.1991740320077, + 1387.7284251500196, + 35.34797100590562 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755983272 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2556.0, + 1408.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_14-34-17_899334107/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_14-34-17_899334107/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..199713da01ba54c43e438302a908c0762e21ec6a --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_14-34-17_899334107/pose.jsonl @@ -0,0 +1,522 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2234.852748429091, + -2786.737574124761, + 31.232975055837095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2237.4508246404444, + -2785.237574124761, + 31.232975055837095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2240.0489008517975, + -2783.737574124761, + 31.232975055837095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2242.6469770631506, + -2782.237574124761, + 31.232975055837095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2245.245053274504, + -2780.737574124761, + 31.232975055837095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2247.843129485857, + -2779.237574124761, + 31.232975055837095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2250.44120569721, + -2777.737574124761, + 31.232975055837095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2253.039281908563, + -2776.237574124761, + 31.232975055837095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2255.6373581199164, + -2774.737574124761, + 31.232975055837095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2258.2354343312695, + -2773.237574124761, + 31.232975055837095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2260.8335105426227, + -2771.737574124761, + 31.232975055837095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2263.431586753976, + -2770.237574124761, + 31.232975055837095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2266.029662965329, + -2768.737574124761, + 31.232975055837095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2268.627739176682, + -2767.237574124761, + 31.232975055837095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2271.2258153880352, + -2765.737574124761, + 31.232975055837095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2273.8238915993884, + -2764.237574124761, + 31.232975055837095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2276.4219678107415, + -2762.737574124761, + 31.232975055837095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2279.0200440220947, + -2761.237574124761, + 31.232975055837095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2281.618120233448, + -2759.737574124761, + 31.232975055837095 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2281.618120233448, + -2759.737574124761, + 31.232975055837095 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535897647 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2284.618120233448, + -2759.737574124761, + 31.232975055837095 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2287.618120233448, + -2759.737574124761, + 31.232975055837095 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2290.618120233448, + -2759.737574124761, + 31.232975055837095 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2293.618120233448, + -2759.737574124761, + 31.232975055837095 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2296.618120233448, + -2759.737574124761, + 31.232975055837095 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2299.618120233448, + -2759.737574124761, + 31.232975055837095 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2302.618120233448, + -2759.737574124761, + 31.232975055837095 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2305.618120233448, + -2759.737574124761, + 31.232975055837095 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2308.618120233448, + -2759.737574124761, + 31.232975055837095 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2311.618120233448, + -2759.737574124761, + 31.232975055837095 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2314.618120233448, + -2759.737574124761, + 31.232975055837095 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2317.618120233448, + -2759.737574124761, + 31.232975055837095 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2320.618120233448, + -2759.737574124761, + 31.232975055837095 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2323.618120233448, + -2759.737574124761, + 31.232975055837095 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2326.618120233448, + -2759.737574124761, + 31.232975055837095 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -2329.618120233448, + -2759.737574124761, + 31.232975055837095 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -2332.618120233448, + -2759.737574124761, + 31.232975055837095 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -2335.618120233448, + -2759.737574124761, + 31.232975055837095 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -2338.618120233448, + -2759.737574124761, + 31.232975055837095 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2380.0, + -2748.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_14-4-51_742949164/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_14-4-51_742949164/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..915f290006f3f7181e68dfe3cac58dc4893505ef --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_14-4-51_742949164/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2868.0609756627937, + 646.900836025446, + 25.788590495282115 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2866.5609756627937, + 649.4989122367992, + 25.788590495282115 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2865.0609756627937, + 652.0969884481526, + 25.788590495282115 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2863.5609756627937, + 654.695064659506, + 25.788590495282115 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2862.0609756627937, + 657.2931408708594, + 25.788590495282115 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2860.5609756627937, + 659.8912170822127, + 25.788590495282115 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2859.0609756627937, + 662.4892932935661, + 25.788590495282115 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2857.5609756627937, + 665.0873695049195, + 25.788590495282115 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2856.0609756627937, + 667.6854457162729, + 25.788590495282115 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2854.5609756627937, + 670.2835219276262, + 25.788590495282115 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2853.0609756627937, + 672.8815981389796, + 25.788590495282115 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2851.5609756627937, + 675.479674350333, + 25.788590495282115 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2850.0609756627937, + 678.0777505616863, + 25.788590495282115 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2848.5609756627937, + 680.6758267730397, + 25.788590495282115 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2847.0609756627937, + 683.2739029843931, + 25.788590495282115 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2845.5609756627937, + 685.8719791957465, + 25.788590495282115 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2844.0609756627937, + 688.4700554070998, + 25.788590495282115 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2842.5609756627937, + 691.0681316184532, + 25.788590495282115 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2841.0609756627937, + 693.6662078298066, + 25.788590495282115 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2839.5609756627937, + 696.26428404116, + 25.788590495282115 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2838.0609756627937, + 698.8623602525133, + 25.788590495282115 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2836.5609756627937, + 701.4604364638667, + 25.788590495282115 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2835.0609756627937, + 704.0585126752201, + 25.788590495282115 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2833.5609756627937, + 706.6565888865734, + 25.788590495282115 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2832.0609756627937, + 709.2546650979268, + 25.788590495282115 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2830.5609756627937, + 711.8527413092802, + 25.788590495282115 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2829.0609756627937, + 714.4508175206336, + 25.788590495282115 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2827.5609756627937, + 717.0488937319869, + 25.788590495282115 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2826.0609756627937, + 719.6469699433403, + 25.788590495282115 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2824.5609756627937, + 722.2450461546937, + 25.788590495282115 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2823.0609756627937, + 724.843122366047, + 25.788590495282115 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2821.5609756627937, + 727.4411985774004, + 25.788590495282115 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2820.0609756627937, + 730.0392747887538, + 25.788590495282115 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2818.5609756627937, + 732.6373510001072, + 25.788590495282115 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2817.0609756627937, + 735.2354272114605, + 25.788590495282115 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -2815.5609756627937, + 737.8335034228139, + 25.788590495282115 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -2814.0609756627937, + 740.4315796341673, + 25.788590495282115 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -2812.5609756627937, + 743.0296558455207, + 25.788590495282115 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -2811.0609756627937, + 745.627732056874, + 25.788590495282115 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -2809.5609756627937, + 748.2258082682274, + 25.788590495282115 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -2808.0609756627937, + 750.8238844795808, + 25.788590495282115 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -2806.5609756627937, + 753.4219606909342, + 25.788590495282115 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -2805.0609756627937, + 756.0200369022875, + 25.788590495282115 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -2803.5609756627937, + 758.6181131136409, + 25.788590495282115 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -2803.5609756627937, + 758.6181131136409, + 25.788590495282115 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -2800.9628994514405, + 760.1181131136409, + 25.788590495282115 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -2798.3648232400874, + 761.6181131136409, + 25.788590495282115 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -2795.7667470287342, + 763.1181131136409, + 25.788590495282115 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -2793.168670817381, + 764.6181131136409, + 25.788590495282115 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -2790.570594606028, + 766.1181131136409, + 25.788590495282115 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -2787.972518394675, + 767.6181131136409, + 25.788590495282115 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -2785.3744421833217, + 769.1181131136409, + 25.788590495282115 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755983272 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2768.0, + 792.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_14-44-34_1901540637/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_14-44-34_1901540637/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..623371bddb1e7cdee300313d58d2cb4a863d7245 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_14-44-34_1901540637/pose.jsonl @@ -0,0 +1,561 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2346.5324992485503, + 1895.1732232365466, + 25.963413631909958 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2349.5324992485503, + 1895.1732232365466, + 25.963413631909958 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2352.5324992485503, + 1895.1732232365466, + 25.963413631909958 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2355.5324992485503, + 1895.1732232365466, + 25.963413631909958 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2358.5324992485503, + 1895.1732232365466, + 25.963413631909958 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2361.5324992485503, + 1895.1732232365466, + 25.963413631909958 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2364.5324992485503, + 1895.1732232365466, + 25.963413631909958 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2367.5324992485503, + 1895.1732232365466, + 25.963413631909958 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2370.5324992485503, + 1895.1732232365466, + 25.963413631909958 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 2373.5324992485503, + 1895.1732232365466, + 25.963413631909958 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2376.5324992485503, + 1895.1732232365466, + 25.963413631909958 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2379.5324992485503, + 1895.1732232365466, + 25.963413631909958 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 2382.5324992485503, + 1895.1732232365466, + 25.963413631909958 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 2385.5324992485503, + 1895.1732232365466, + 25.963413631909958 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 2388.5324992485503, + 1895.1732232365466, + 25.963413631909958 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 2391.5324992485503, + 1895.1732232365466, + 25.963413631909958 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 2394.5324992485503, + 1895.1732232365466, + 25.963413631909958 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 2397.5324992485503, + 1895.1732232365466, + 25.963413631909958 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 2400.5324992485503, + 1895.1732232365466, + 25.963413631909958 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 2400.5324992485503, + 1895.1732232365466, + 25.963413631909958 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 2400.5324992485503, + 1895.1732232365466, + 25.963413631909958 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 2402.0324992485503, + 1892.5751470251932, + 25.963413631909958 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 2403.5324992485503, + 1889.9770708138399, + 25.963413631909958 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 2405.0324992485503, + 1887.3789946024865, + 25.963413631909958 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 2406.5324992485503, + 1884.7809183911331, + 25.963413631909958 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 2406.5324992485503, + 1884.7809183911331, + 25.963413631909958 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 2409.1305754599034, + 1883.2809183911331, + 25.963413631909958 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 2411.7286516712566, + 1881.7809183911331, + 25.963413631909958 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 2414.3267278826097, + 1880.2809183911331, + 25.963413631909958 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 2416.924804093963, + 1878.7809183911331, + 25.963413631909958 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 2416.924804093963, + 1878.7809183911331, + 25.963413631909958 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196626 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 2418.424804093963, + 1876.1828421797798, + 25.963413631909958 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 2419.924804093963, + 1873.5847659684264, + 25.963413631909958 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 2421.424804093963, + 1870.986689757073, + 25.963413631909958 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 2422.924804093963, + 1868.3886135457196, + 25.963413631909958 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 2424.424804093963, + 1865.7905373343663, + 25.963413631909958 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 2425.924804093963, + 1863.192461123013, + 25.963413631909958 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 2427.424804093963, + 1860.5943849116595, + 25.963413631909958 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 2428.924804093963, + 1857.9963087003061, + 25.963413631909958 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 2430.424804093963, + 1855.3982324889528, + 25.963413631909958 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 2431.924804093963, + 1852.8001562775994, + 25.963413631909958 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 2433.424804093963, + 1850.202080066246, + 25.963413631909958 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2496.0, + 1816.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_14-49-49_813823381/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_14-49-49_813823381/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..70ce097921b63f6c20e6725659bbe3d9cc024ff4 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_14-49-49_813823381/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1477.0704320160567, + -1714.257143259988, + 24.464124125068967 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1479.66850822741, + -1712.757143259988, + 24.464124125068967 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1482.2665844387634, + -1711.257143259988, + 24.464124125068967 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1484.8646606501168, + -1709.757143259988, + 24.464124125068967 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1487.4627368614701, + -1708.257143259988, + 24.464124125068967 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1490.0608130728235, + -1706.757143259988, + 24.464124125068967 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1492.658889284177, + -1705.257143259988, + 24.464124125068967 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1492.658889284177, + -1705.257143259988, + 24.464124125068967 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1495.658889284177, + -1705.257143259988, + 24.464124125068967 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1495.658889284177, + -1705.257143259988, + 24.464124125068967 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1498.2569654955303, + -1703.757143259988, + 24.464124125068967 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1498.2569654955303, + -1703.757143259988, + 24.464124125068967 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1499.7569654955303, + -1701.1590670486346, + 24.464124125068967 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1501.2569654955303, + -1698.5609908372812, + 24.464124125068967 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1502.7569654955303, + -1695.9629146259279, + 24.464124125068967 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1502.7569654955303, + -1695.9629146259279, + 24.464124125068967 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1505.3550417068836, + -1694.4629146259279, + 24.464124125068967 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1507.953117918237, + -1692.9629146259279, + 24.464124125068967 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1510.5511941295904, + -1691.4629146259279, + 24.464124125068967 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1513.1492703409438, + -1689.9629146259279, + 24.464124125068967 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1515.7473465522971, + -1688.4629146259279, + 24.464124125068967 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1518.3454227636505, + -1686.9629146259279, + 24.464124125068967 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1520.9434989750039, + -1685.4629146259279, + 24.464124125068967 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1523.5415751863572, + -1683.9629146259279, + 24.464124125068967 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1526.1396513977106, + -1682.4629146259279, + 24.464124125068967 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1528.737727609064, + -1680.9629146259279, + 24.464124125068967 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1531.3358038204174, + -1679.4629146259279, + 24.464124125068967 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1533.9338800317707, + -1677.9629146259279, + 24.464124125068967 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1536.5319562431241, + -1676.4629146259279, + 24.464124125068967 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1539.1300324544775, + -1674.9629146259279, + 24.464124125068967 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1541.7281086658309, + -1673.4629146259279, + 24.464124125068967 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1544.3261848771842, + -1671.9629146259279, + 24.464124125068967 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1546.9242610885376, + -1670.4629146259279, + 24.464124125068967 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1549.522337299891, + -1668.9629146259279, + 24.464124125068967 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1552.1204135112444, + -1667.4629146259279, + 24.464124125068967 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1554.7184897225977, + -1665.9629146259279, + 24.464124125068967 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1557.316565933951, + -1664.4629146259279, + 24.464124125068967 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1559.9146421453045, + -1662.9629146259279, + 24.464124125068967 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1559.9146421453045, + -1662.9629146259279, + 24.464124125068967 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1561.4146421453045, + -1660.3648384145745, + 24.464124125068967 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1562.9146421453045, + -1657.766762203221, + 24.464124125068967 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1564.4146421453045, + -1655.1686859918677, + 24.464124125068967 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1565.9146421453045, + -1652.5706097805144, + 24.464124125068967 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1567.4146421453045, + -1649.972533569161, + 24.464124125068967 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1568.9146421453045, + -1647.3744573578076, + 24.464124125068967 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1616.0, + -1616.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_14-50-52_1622838287/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_14-50-52_1622838287/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c46b89b98976b47949e084c8cfae70cf96091858 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_14-50-52_1622838287/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2102.266562031677, + -2587.3535053078863, + 26.341096768987164 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2099.266562031677, + -2587.3535053078863, + 26.341096768987164 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2096.266562031677, + -2587.3535053078863, + 26.341096768987164 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2093.266562031677, + -2587.3535053078863, + 26.341096768987164 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2090.266562031677, + -2587.3535053078863, + 26.341096768987164 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2090.266562031677, + -2587.3535053078863, + 26.341096768987164 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2090.266562031677, + -2587.3535053078863, + 26.341096768987164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2088.766562031677, + -2584.755429096533, + 26.341096768987164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2087.266562031677, + -2582.15735288518, + 26.341096768987164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2085.766562031677, + -2579.559276673827, + 26.341096768987164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2084.266562031677, + -2576.9612004624737, + 26.341096768987164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2082.766562031677, + -2574.3631242511206, + 26.341096768987164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2081.266562031677, + -2571.7650480397674, + 26.341096768987164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2079.766562031677, + -2569.1669718284143, + 26.341096768987164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2078.266562031677, + -2566.568895617061, + 26.341096768987164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2076.766562031677, + -2563.970819405708, + 26.341096768987164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2075.266562031677, + -2561.372743194355, + 26.341096768987164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2073.766562031677, + -2558.7746669830017, + 26.341096768987164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2072.266562031677, + -2556.1765907716485, + 26.341096768987164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2070.766562031677, + -2553.5785145602954, + 26.341096768987164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2069.266562031677, + -2550.9804383489422, + 26.341096768987164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2067.766562031677, + -2548.382362137589, + 26.341096768987164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2066.266562031677, + -2545.784285926236, + 26.341096768987164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2064.766562031677, + -2543.186209714883, + 26.341096768987164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2063.266562031677, + -2540.5881335035297, + 26.341096768987164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2061.766562031677, + -2537.9900572921765, + 26.341096768987164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2060.266562031677, + -2535.3919810808234, + 26.341096768987164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2058.766562031677, + -2532.79390486947, + 26.341096768987164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2057.266562031677, + -2530.195828658117, + 26.341096768987164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2055.766562031677, + -2527.597752446764, + 26.341096768987164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2054.266562031677, + -2524.999676235411, + 26.341096768987164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2052.766562031677, + -2522.4016000240576, + 26.341096768987164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2051.266562031677, + -2519.8035238127045, + 26.341096768987164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2049.766562031677, + -2517.2054476013514, + 26.341096768987164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2048.266562031677, + -2514.607371389998, + 26.341096768987164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -2046.766562031677, + -2512.009295178645, + 26.341096768987164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -2045.266562031677, + -2509.411218967292, + 26.341096768987164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -2043.766562031677, + -2506.8131427559388, + 26.341096768987164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -2042.266562031677, + -2504.2150665445856, + 26.341096768987164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -2040.766562031677, + -2501.6169903332325, + 26.341096768987164 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -2040.766562031677, + -2501.6169903332325, + 26.341096768987164 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982706 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -2038.1684858203237, + -2500.1169903332325, + 26.341096768987164 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -2035.5704096089703, + -2498.6169903332325, + 26.341096768987164 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -2032.972333397617, + -2497.1169903332325, + 26.341096768987164 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -2030.3742571862635, + -2495.6169903332325, + 26.341096768987164 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -2027.7761809749102, + -2494.1169903332325, + 26.341096768987164 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -2025.1781047635568, + -2492.6169903332325, + 26.341096768987164 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -2022.5800285522034, + -2491.1169903332325, + 26.341096768987164 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -2019.98195234085, + -2489.6169903332325, + 26.341096768987164 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -2017.3838761294967, + -2488.1169903332325, + 26.341096768987164 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -2014.7857999181433, + -2486.6169903332325, + 26.341096768987164 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -2012.18772370679, + -2485.1169903332325, + 26.341096768987164 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -2009.5896474954366, + -2483.6169903332325, + 26.341096768987164 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -2006.9915712840832, + -2482.1169903332325, + 26.341096768987164 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1996.0, + -2472.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_14-51-23_1617869388/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_14-51-23_1617869388/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f133c6a9a6e5bd15cb50a8931b6b03de93dc5b7b --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_14-51-23_1617869388/pose.jsonl @@ -0,0 +1,769 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4699.344209619714, + -747.6210469697114, + 31.4543404233403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4702.344209619714, + -747.6210469697114, + 31.4543404233403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4705.344209619714, + -747.6210469697114, + 31.4543404233403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4708.344209619714, + -747.6210469697114, + 31.4543404233403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4711.344209619714, + -747.6210469697114, + 31.4543404233403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4714.344209619714, + -747.6210469697114, + 31.4543404233403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4717.344209619714, + -747.6210469697114, + 31.4543404233403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4720.344209619714, + -747.6210469697114, + 31.4543404233403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4723.344209619714, + -747.6210469697114, + 31.4543404233403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4726.344209619714, + -747.6210469697114, + 31.4543404233403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4729.344209619714, + -747.6210469697114, + 31.4543404233403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4732.344209619714, + -747.6210469697114, + 31.4543404233403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4735.344209619714, + -747.6210469697114, + 31.4543404233403 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4735.344209619714, + -747.6210469697114, + 31.4543404233403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4737.942285831067, + -746.1210469697114, + 31.4543404233403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4740.54036204242, + -744.6210469697114, + 31.4543404233403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 4743.1384382537735, + -743.1210469697114, + 31.4543404233403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 4745.736514465127, + -741.6210469697114, + 31.4543404233403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 4748.33459067648, + -740.1210469697114, + 31.4543404233403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 4750.932666887833, + -738.6210469697114, + 31.4543404233403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 4753.530743099186, + -737.1210469697114, + 31.4543404233403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 4756.128819310539, + -735.6210469697114, + 31.4543404233403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 4758.726895521892, + -734.1210469697114, + 31.4543404233403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 4761.324971733246, + -732.6210469697114, + 31.4543404233403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 4763.923047944599, + -731.1210469697114, + 31.4543404233403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 4766.521124155952, + -729.6210469697114, + 31.4543404233403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 4769.119200367305, + -728.1210469697114, + 31.4543404233403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 4771.717276578658, + -726.6210469697114, + 31.4543404233403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 4774.315352790011, + -725.1210469697114, + 31.4543404233403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 4776.913429001364, + -723.6210469697114, + 31.4543404233403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 4779.511505212718, + -722.1210469697114, + 31.4543404233403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 4782.109581424071, + -720.6210469697114, + 31.4543404233403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 4784.707657635424, + -719.1210469697114, + 31.4543404233403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 4787.305733846777, + -717.6210469697114, + 31.4543404233403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 4789.90381005813, + -716.1210469697114, + 31.4543404233403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 4792.501886269483, + -714.6210469697114, + 31.4543404233403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 4795.099962480836, + -713.1210469697114, + 31.4543404233403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 4797.69803869219, + -711.6210469697114, + 31.4543404233403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 4800.296114903543, + -710.1210469697114, + 31.4543404233403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 4802.894191114896, + -708.6210469697114, + 31.4543404233403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 4805.492267326249, + -707.1210469697114, + 31.4543404233403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 4808.090343537602, + -705.6210469697114, + 31.4543404233403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 4810.688419748955, + -704.1210469697114, + 31.4543404233403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 4813.2864959603085, + -702.6210469697114, + 31.4543404233403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 4815.884572171662, + -701.1210469697114, + 31.4543404233403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 4818.482648383015, + -699.6210469697114, + 31.4543404233403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 4821.080724594368, + -698.1210469697114, + 31.4543404233403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 4823.678800805721, + -696.6210469697114, + 31.4543404233403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 4826.276877017074, + -695.1210469697114, + 31.4543404233403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 4828.874953228427, + -693.6210469697114, + 31.4543404233403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 4831.4730294397805, + -692.1210469697114, + 31.4543404233403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 4834.071105651134, + -690.6210469697114, + 31.4543404233403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 4836.669181862487, + -689.1210469697114, + 31.4543404233403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 4839.26725807384, + -687.6210469697114, + 31.4543404233403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 4841.865334285193, + -686.1210469697114, + 31.4543404233403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 4844.463410496546, + -684.6210469697114, + 31.4543404233403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 4847.061486707899, + -683.1210469697114, + 31.4543404233403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 4849.6595629192525, + -681.6210469697114, + 31.4543404233403 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755983272 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4864.0, + -676.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_14-53-42_931336718/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_14-53-42_931336718/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fffdeb4304ebb196e5cb7293ee9de53f887c3ff3 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_14-53-42_931336718/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1847.8970147900327, + -363.131217411613, + 28.74293504569561 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1850.8970147900327, + -363.131217411613, + 28.74293504569561 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1853.8970147900327, + -363.131217411613, + 28.74293504569561 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1856.8970147900327, + -363.131217411613, + 28.74293504569561 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1859.8970147900327, + -363.131217411613, + 28.74293504569561 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1862.8970147900327, + -363.131217411613, + 28.74293504569561 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1865.8970147900327, + -363.131217411613, + 28.74293504569561 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1868.8970147900327, + -363.131217411613, + 28.74293504569561 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1871.8970147900327, + -363.131217411613, + 28.74293504569561 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1874.8970147900327, + -363.131217411613, + 28.74293504569561 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1877.8970147900327, + -363.131217411613, + 28.74293504569561 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1877.8970147900327, + -363.131217411613, + 28.74293504569561 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1877.8970147900327, + -363.131217411613, + 28.74293504569561 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1879.3970147900327, + -360.5331412002597, + 28.74293504569561 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1880.8970147900327, + -357.9350649889064, + 28.74293504569561 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1880.8970147900327, + -357.9350649889064, + 28.74293504569561 + ], + "type": "turn right", + "value": 30, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1880.8970147900327, + -357.9350649889064, + 28.74293504569561 + ], + "type": "go straight", + "value": 3, + "yaw": 2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1883.8970147900327, + -357.9350649889064, + 28.74293504569561 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1886.8970147900327, + -357.9350649889064, + 28.74293504569561 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1886.8970147900327, + -357.9350649889064, + 28.74293504569561 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1889.495091001386, + -356.4350649889064, + 28.74293504569561 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1892.0931672127394, + -354.9350649889064, + 28.74293504569561 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1894.6912434240928, + -353.4350649889064, + 28.74293504569561 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1897.2893196354462, + -351.9350649889064, + 28.74293504569561 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1899.8873958467996, + -350.4350649889064, + 28.74293504569561 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1902.485472058153, + -348.9350649889064, + 28.74293504569561 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1905.0835482695063, + -347.4350649889064, + 28.74293504569561 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1907.6816244808597, + -345.9350649889064, + 28.74293504569561 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1910.279700692213, + -344.4350649889064, + 28.74293504569561 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1912.8777769035664, + -342.9350649889064, + 28.74293504569561 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1915.4758531149198, + -341.4350649889064, + 28.74293504569561 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1915.4758531149198, + -341.4350649889064, + 28.74293504569561 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1918.4758531149198, + -341.4350649889064, + 28.74293504569561 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1921.4758531149198, + -341.4350649889064, + 28.74293504569561 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1924.4758531149198, + -341.4350649889064, + 28.74293504569561 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1927.4758531149198, + -341.4350649889064, + 28.74293504569561 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1930.4758531149198, + -341.4350649889064, + 28.74293504569561 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1933.4758531149198, + -341.4350649889064, + 28.74293504569561 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1936.4758531149198, + -341.4350649889064, + 28.74293504569561 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1939.4758531149198, + -341.4350649889064, + 28.74293504569561 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1942.4758531149198, + -341.4350649889064, + 28.74293504569561 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1945.4758531149198, + -341.4350649889064, + 28.74293504569561 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1948.4758531149198, + -341.4350649889064, + 28.74293504569561 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1951.4758531149198, + -341.4350649889064, + 28.74293504569561 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1954.4758531149198, + -341.4350649889064, + 28.74293504569561 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1957.4758531149198, + -341.4350649889064, + 28.74293504569561 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1960.4758531149198, + -341.4350649889064, + 28.74293504569561 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1963.4758531149198, + -341.4350649889064, + 28.74293504569561 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1966.4758531149198, + -341.4350649889064, + 28.74293504569561 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1969.4758531149198, + -341.4350649889064, + 28.74293504569561 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2012.0, + -332.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_14-59-34_2016747294/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_14-59-34_2016747294/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a2407245ddf95851cdcbe97584cb955c9399bc86 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_14-59-34_2016747294/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -528.3260532250389, + -2203.9167576014765, + 27.638106007595443 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -528.3260532250389, + -2200.9167576014765, + 27.638106007595443 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -528.3260532250389, + -2197.9167576014765, + 27.638106007595443 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -528.3260532250389, + -2194.9167576014765, + 27.638106007595443 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -528.3260532250389, + -2194.9167576014765, + 27.638106007595443 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -526.8260532250389, + -2192.3186813901234, + 27.638106007595443 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -526.8260532250389, + -2192.3186813901234, + 27.638106007595443 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948681 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -526.8260532250389, + -2189.3186813901234, + 27.638106007595443 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -526.8260532250389, + -2186.3186813901234, + 27.638106007595443 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -526.8260532250389, + -2183.3186813901234, + 27.638106007595443 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -526.8260532250389, + -2180.3186813901234, + 27.638106007595443 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -526.8260532250389, + -2180.3186813901234, + 27.638106007595443 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -526.8260532250389, + -2180.3186813901234, + 27.638106007595443 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -529.4241294363921, + -2178.8186813901234, + 27.638106007595443 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -532.0222056477455, + -2177.3186813901234, + 27.638106007595443 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -534.6202818590989, + -2175.8186813901234, + 27.638106007595443 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -537.2183580704523, + -2174.3186813901234, + 27.638106007595443 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -539.8164342818056, + -2172.8186813901234, + 27.638106007595443 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -542.414510493159, + -2171.3186813901234, + 27.638106007595443 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -545.0125867045124, + -2169.8186813901234, + 27.638106007595443 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -547.6106629158658, + -2168.3186813901234, + 27.638106007595443 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -550.2087391272191, + -2166.8186813901234, + 27.638106007595443 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -552.8068153385725, + -2165.3186813901234, + 27.638106007595443 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -555.4048915499259, + -2163.8186813901234, + 27.638106007595443 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -558.0029677612793, + -2162.3186813901234, + 27.638106007595443 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -560.6010439726326, + -2160.8186813901234, + 27.638106007595443 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -560.6010439726326, + -2160.8186813901234, + 27.638106007595443 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -562.1010439726326, + -2158.2206051787703, + 27.638106007595443 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -563.6010439726326, + -2155.622528967417, + 27.638106007595443 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -565.1010439726326, + -2153.024452756064, + 27.638106007595443 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -566.6010439726326, + -2150.426376544711, + 27.638106007595443 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -568.1010439726326, + -2147.8283003333577, + 27.638106007595443 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -569.6010439726326, + -2145.2302241220045, + 27.638106007595443 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -571.1010439726326, + -2142.6321479106514, + 27.638106007595443 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -572.6010439726326, + -2140.0340716992982, + 27.638106007595443 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -574.1010439726326, + -2137.435995487945, + 27.638106007595443 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -575.6010439726326, + -2134.837919276592, + 27.638106007595443 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -577.1010439726326, + -2132.239843065239, + 27.638106007595443 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -578.6010439726326, + -2129.6417668538857, + 27.638106007595443 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -580.1010439726326, + -2127.0436906425325, + 27.638106007595443 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -581.6010439726326, + -2124.4456144311794, + 27.638106007595443 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -583.1010439726326, + -2121.847538219826, + 27.638106007595443 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -584.6010439726326, + -2119.249462008473, + 27.638106007595443 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -584.6010439726326, + -2119.249462008473, + 27.638106007595443 + ], + "type": "go straight", + "value": 3, + "yaw": 1.570796326794925 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -584.6010439726326, + -2116.249462008473, + 27.638106007595443 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -584.6010439726326, + -2113.249462008473, + 27.638106007595443 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -616.0, + -2060.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_14-7-19_1210997811/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_14-7-19_1210997811/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d9d5d0c4deab8951978c2c74fed5967e07558036 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_14-7-19_1210997811/pose.jsonl @@ -0,0 +1,561 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3556.6610867096624, + 977.7695476631826, + 38.52191018530484 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3556.6610867096624, + 974.7695476631826, + 38.52191018530484 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3556.6610867096624, + 971.7695476631826, + 38.52191018530484 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3556.6610867096624, + 968.7695476631826, + 38.52191018530484 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3556.6610867096624, + 965.7695476631826, + 38.52191018530484 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3556.6610867096624, + 962.7695476631826, + 38.52191018530484 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3556.6610867096624, + 959.7695476631826, + 38.52191018530484 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3556.6610867096624, + 956.7695476631826, + 38.52191018530484 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 3556.6610867096624, + 953.7695476631826, + 38.52191018530484 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 3556.6610867096624, + 950.7695476631826, + 38.52191018530484 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 3556.6610867096624, + 947.7695476631826, + 38.52191018530484 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 3556.6610867096624, + 944.7695476631826, + 38.52191018530484 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 3556.6610867096624, + 941.7695476631826, + 38.52191018530484 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 3556.6610867096624, + 938.7695476631826, + 38.52191018530484 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 3556.6610867096624, + 935.7695476631826, + 38.52191018530484 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 3556.6610867096624, + 932.7695476631826, + 38.52191018530484 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 3556.6610867096624, + 929.7695476631826, + 38.52191018530484 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 3556.6610867096624, + 926.7695476631826, + 38.52191018530484 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 3556.6610867096624, + 923.7695476631826, + 38.52191018530484 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 3556.6610867096624, + 920.7695476631826, + 38.52191018530484 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 3556.6610867096624, + 917.7695476631826, + 38.52191018530484 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 3556.6610867096624, + 914.7695476631826, + 38.52191018530484 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 3556.6610867096624, + 911.7695476631826, + 38.52191018530484 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 3556.6610867096624, + 908.7695476631826, + 38.52191018530484 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 3556.6610867096624, + 905.7695476631826, + 38.52191018530484 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 3556.6610867096624, + 902.7695476631826, + 38.52191018530484 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 3556.6610867096624, + 899.7695476631826, + 38.52191018530484 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 3556.6610867096624, + 896.7695476631826, + 38.52191018530484 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 3556.6610867096624, + 896.7695476631826, + 38.52191018530484 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 3558.1610867096624, + 894.1714714518293, + 38.52191018530484 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 3559.6610867096624, + 891.573395240476, + 38.52191018530484 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 3561.1610867096624, + 888.9753190291226, + 38.52191018530484 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 3562.6610867096624, + 886.3772428177692, + 38.52191018530484 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 3564.1610867096624, + 883.7791666064159, + 38.52191018530484 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 3565.6610867096624, + 881.1810903950625, + 38.52191018530484 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 3567.1610867096624, + 878.5830141837091, + 38.52191018530484 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 3568.6610867096624, + 875.9849379723557, + 38.52191018530484 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 3570.1610867096624, + 873.3868617610024, + 38.52191018530484 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 3571.6610867096624, + 870.788785549649, + 38.52191018530484 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 3573.1610867096624, + 868.1907093382956, + 38.52191018530484 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 3573.1610867096624, + 868.1907093382956, + 38.52191018530484 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 3573.1610867096624, + 865.1907093382956, + 38.52191018530484 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267949059 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3580.0, + 820.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_15-1-1_376875057/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_15-1-1_376875057/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2906a538b4f6edfdd5ff8dc3b2c9d263216ea498 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_15-1-1_376875057/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1704.751378219569, + -2613.2806508761887, + 29.701611850936594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1706.251378219569, + -2610.6825746648356, + 29.701611850936594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1707.751378219569, + -2608.0844984534824, + 29.701611850936594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1709.251378219569, + -2605.4864222421293, + 29.701611850936594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1710.751378219569, + -2602.888346030776, + 29.701611850936594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1712.251378219569, + -2600.290269819423, + 29.701611850936594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1713.751378219569, + -2597.69219360807, + 29.701611850936594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1715.251378219569, + -2595.0941173967167, + 29.701611850936594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1716.751378219569, + -2592.4960411853635, + 29.701611850936594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1718.251378219569, + -2589.8979649740104, + 29.701611850936594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1719.751378219569, + -2587.2998887626572, + 29.701611850936594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1721.251378219569, + -2584.701812551304, + 29.701611850936594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1722.751378219569, + -2582.103736339951, + 29.701611850936594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1724.251378219569, + -2579.505660128598, + 29.701611850936594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1725.751378219569, + -2576.9075839172447, + 29.701611850936594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1727.251378219569, + -2574.3095077058915, + 29.701611850936594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1728.751378219569, + -2571.7114314945384, + 29.701611850936594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1730.251378219569, + -2569.1133552831852, + 29.701611850936594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1731.751378219569, + -2566.515279071832, + 29.701611850936594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1733.251378219569, + -2563.917202860479, + 29.701611850936594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1734.751378219569, + -2561.319126649126, + 29.701611850936594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1736.251378219569, + -2558.7210504377726, + 29.701611850936594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1737.751378219569, + -2556.1229742264195, + 29.701611850936594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1739.251378219569, + -2553.5248980150664, + 29.701611850936594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1740.751378219569, + -2550.926821803713, + 29.701611850936594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1742.251378219569, + -2548.32874559236, + 29.701611850936594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1743.751378219569, + -2545.730669381007, + 29.701611850936594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1745.251378219569, + -2543.132593169654, + 29.701611850936594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1746.751378219569, + -2540.5345169583006, + 29.701611850936594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1748.251378219569, + -2537.9364407469475, + 29.701611850936594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1749.751378219569, + -2535.3383645355943, + 29.701611850936594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1751.251378219569, + -2532.740288324241, + 29.701611850936594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1752.751378219569, + -2530.142212112888, + 29.701611850936594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1754.251378219569, + -2527.544135901535, + 29.701611850936594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1755.751378219569, + -2524.9460596901818, + 29.701611850936594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1757.251378219569, + -2522.3479834788286, + 29.701611850936594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1758.751378219569, + -2519.7499072674755, + 29.701611850936594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1760.251378219569, + -2517.1518310561223, + 29.701611850936594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1761.751378219569, + -2514.553754844769, + 29.701611850936594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1763.251378219569, + -2511.955678633416, + 29.701611850936594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1764.751378219569, + -2509.357602422063, + 29.701611850936594 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1764.751378219569, + -2509.357602422063, + 29.701611850936594 + ], + "type": "go straight", + "value": 3, + "yaw": 1.570796326794925 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1764.751378219569, + -2506.357602422063, + 29.701611850936594 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1764.751378219569, + -2503.357602422063, + 29.701611850936594 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1764.751378219569, + -2500.357602422063, + 29.701611850936594 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1764.751378219569, + -2497.357602422063, + 29.701611850936594 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1764.751378219569, + -2494.357602422063, + 29.701611850936594 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1764.751378219569, + -2491.357602422063, + 29.701611850936594 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1780.0, + -2464.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_15-1-37_601698078/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_15-1-37_601698078/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..81491ebee5676860226c24778f888621d81dcfdb --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_15-1-37_601698078/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1754.5838746830943, + -83.93067944954498, + 28.272034438407523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1751.5838746830943, + -83.93067944954498, + 28.272034438407523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1748.5838746830943, + -83.93067944954498, + 28.272034438407523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1745.5838746830943, + -83.93067944954498, + 28.272034438407523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1742.5838746830943, + -83.93067944954498, + 28.272034438407523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1739.5838746830943, + -83.93067944954498, + 28.272034438407523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1736.5838746830943, + -83.93067944954498, + 28.272034438407523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1733.5838746830943, + -83.93067944954498, + 28.272034438407523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1730.5838746830943, + -83.93067944954498, + 28.272034438407523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1727.5838746830943, + -83.93067944954498, + 28.272034438407523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1724.5838746830943, + -83.93067944954498, + 28.272034438407523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1721.5838746830943, + -83.93067944954498, + 28.272034438407523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1718.5838746830943, + -83.93067944954498, + 28.272034438407523 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1718.5838746830943, + -83.93067944954498, + 28.272034438407523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1715.985798471741, + -82.43067944954498, + 28.272034438407523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1713.3877222603876, + -80.93067944954498, + 28.272034438407523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1710.7896460490342, + -79.43067944954498, + 28.272034438407523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1708.1915698376808, + -77.93067944954498, + 28.272034438407523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1705.5934936263275, + -76.43067944954498, + 28.272034438407523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1702.995417414974, + -74.93067944954498, + 28.272034438407523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1700.3973412036207, + -73.43067944954498, + 28.272034438407523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1697.7992649922674, + -71.93067944954498, + 28.272034438407523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1695.201188780914, + -70.43067944954498, + 28.272034438407523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1692.6031125695606, + -68.93067944954498, + 28.272034438407523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1690.0050363582072, + -67.43067944954498, + 28.272034438407523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1687.4069601468539, + -65.93067944954498, + 28.272034438407523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1684.8088839355005, + -64.43067944954498, + 28.272034438407523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1682.2108077241471, + -62.93067944954498, + 28.272034438407523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1679.6127315127937, + -61.43067944954498, + 28.272034438407523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1677.0146553014404, + -59.93067944954498, + 28.272034438407523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1674.416579090087, + -58.43067944954498, + 28.272034438407523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1671.8185028787336, + -56.93067944954498, + 28.272034438407523 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1671.8185028787336, + -56.93067944954498, + 28.272034438407523 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1668.8185028787336, + -56.93067944954498, + 28.272034438407523 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1668.8185028787336, + -56.93067944954498, + 28.272034438407523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1666.2204266673803, + -55.43067944954498, + 28.272034438407523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1663.6223504560269, + -53.93067944954498, + 28.272034438407523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1661.0242742446735, + -52.43067944954498, + 28.272034438407523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1658.4261980333201, + -50.93067944954498, + 28.272034438407523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1655.8281218219668, + -49.43067944954498, + 28.272034438407523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1653.2300456106134, + -47.93067944954498, + 28.272034438407523 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1653.2300456106134, + -47.93067944954498, + 28.272034438407523 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1651.7300456106134, + -45.332603238191666, + 28.272034438407523 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1650.2300456106134, + -42.73452702683835, + 28.272034438407523 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1648.7300456106134, + -40.136450815485034, + 28.272034438407523 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1647.2300456106134, + -37.53837460413172, + 28.272034438407523 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1645.7300456106134, + -34.9402983927784, + 28.272034438407523 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1644.2300456106134, + -32.342222181425086, + 28.272034438407523 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1642.7300456106134, + -29.74414597007177, + 28.272034438407523 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1641.2300456106134, + -27.146069758718454, + 28.272034438407523 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -1641.2300456106134, + -27.146069758718454, + 28.272034438407523 + ], + "type": "turn right", + "value": 30, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -1641.2300456106134, + -27.146069758718454, + 28.272034438407523 + ], + "type": "go straight", + "value": 3, + "yaw": 2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -1638.2300456106134, + -27.146069758718454, + 28.272034438407523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -1635.2300456106134, + -27.146069758718454, + 28.272034438407523 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1616.0, + -16.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_15-10-1_810411310/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_15-10-1_810411310/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ce57c51f63b0c41b0a6dd01714d329b7f4e59095 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_15-10-1_810411310/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2089.857202943254, + -1479.2036115298042, + 28.472492336812007 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2089.857202943254, + -1482.2036115298042, + 28.472492336812007 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2089.857202943254, + -1485.2036115298042, + 28.472492336812007 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2089.857202943254, + -1488.2036115298042, + 28.472492336812007 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2089.857202943254, + -1491.2036115298042, + 28.472492336812007 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2089.857202943254, + -1494.2036115298042, + 28.472492336812007 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2089.857202943254, + -1497.2036115298042, + 28.472492336812007 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2089.857202943254, + -1500.2036115298042, + 28.472492336812007 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2089.857202943254, + -1503.2036115298042, + 28.472492336812007 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2089.857202943254, + -1506.2036115298042, + 28.472492336812007 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2089.857202943254, + -1509.2036115298042, + 28.472492336812007 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2089.857202943254, + -1512.2036115298042, + 28.472492336812007 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2089.857202943254, + -1515.2036115298042, + 28.472492336812007 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2089.857202943254, + -1518.2036115298042, + 28.472492336812007 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2089.857202943254, + -1521.2036115298042, + 28.472492336812007 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2089.857202943254, + -1524.2036115298042, + 28.472492336812007 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2089.857202943254, + -1527.2036115298042, + 28.472492336812007 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2089.857202943254, + -1530.2036115298042, + 28.472492336812007 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2089.857202943254, + -1533.2036115298042, + 28.472492336812007 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2089.857202943254, + -1536.2036115298042, + 28.472492336812007 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2089.857202943254, + -1539.2036115298042, + 28.472492336812007 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2089.857202943254, + -1542.2036115298042, + 28.472492336812007 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2089.857202943254, + -1545.2036115298042, + 28.472492336812007 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2089.857202943254, + -1548.2036115298042, + 28.472492336812007 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2089.857202943254, + -1551.2036115298042, + 28.472492336812007 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2089.857202943254, + -1554.2036115298042, + 28.472492336812007 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2089.857202943254, + -1557.2036115298042, + 28.472492336812007 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2089.857202943254, + -1560.2036115298042, + 28.472492336812007 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2089.857202943254, + -1563.2036115298042, + 28.472492336812007 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2089.857202943254, + -1563.2036115298042, + 28.472492336812007 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2088.357202943254, + -1565.8016877411576, + 28.472492336812007 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2086.857202943254, + -1568.399763952511, + 28.472492336812007 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2085.357202943254, + -1570.9978401638643, + 28.472492336812007 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2083.857202943254, + -1573.5959163752177, + 28.472492336812007 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2082.357202943254, + -1576.193992586571, + 28.472492336812007 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -2080.857202943254, + -1578.7920687979245, + 28.472492336812007 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -2079.357202943254, + -1581.3901450092778, + 28.472492336812007 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -2077.857202943254, + -1583.9882212206312, + 28.472492336812007 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -2076.357202943254, + -1586.5862974319846, + 28.472492336812007 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -2074.857202943254, + -1589.184373643338, + 28.472492336812007 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -2073.357202943254, + -1591.7824498546913, + 28.472492336812007 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -2071.857202943254, + -1594.3805260660447, + 28.472492336812007 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -2070.357202943254, + -1596.978602277398, + 28.472492336812007 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -2068.857202943254, + -1599.5766784887514, + 28.472492336812007 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -2067.357202943254, + -1602.1747547001048, + 28.472492336812007 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -2065.857202943254, + -1604.7728309114582, + 28.472492336812007 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -2064.357202943254, + -1607.3709071228116, + 28.472492336812007 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -2062.857202943254, + -1609.968983334165, + 28.472492336812007 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -2061.357202943254, + -1612.5670595455183, + 28.472492336812007 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -2059.857202943254, + -1615.1651357568717, + 28.472492336812007 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2056.0, + -1636.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_15-12-29_770361246/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_15-12-29_770361246/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..16508a1b94c29152cda3ce52d1c83f5b402322db --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_15-12-29_770361246/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2382.5521324768056, + -1967.9015172878364, + 31.88590737742288 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2381.0521324768056, + -1965.303441076483, + 31.88590737742288 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2379.5521324768056, + -1962.7053648651297, + 31.88590737742288 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2378.0521324768056, + -1960.1072886537763, + 31.88590737742288 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2376.5521324768056, + -1957.509212442423, + 31.88590737742288 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2375.0521324768056, + -1954.9111362310696, + 31.88590737742288 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2373.5521324768056, + -1952.3130600197162, + 31.88590737742288 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2372.0521324768056, + -1949.7149838083628, + 31.88590737742288 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2370.5521324768056, + -1947.1169075970095, + 31.88590737742288 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2369.0521324768056, + -1944.518831385656, + 31.88590737742288 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2369.0521324768056, + -1944.518831385656, + 31.88590737742288 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2369.0521324768056, + -1941.518831385656, + 31.88590737742288 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2369.0521324768056, + -1938.518831385656, + 31.88590737742288 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2369.0521324768056, + -1935.518831385656, + 31.88590737742288 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2369.0521324768056, + -1932.518831385656, + 31.88590737742288 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2369.0521324768056, + -1929.518831385656, + 31.88590737742288 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2369.0521324768056, + -1929.518831385656, + 31.88590737742288 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2367.5521324768056, + -1926.9207551743027, + 31.88590737742288 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2367.5521324768056, + -1926.9207551743027, + 31.88590737742288 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2364.9540562654524, + -1925.4207551743027, + 31.88590737742288 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2362.3559800540993, + -1923.9207551743027, + 31.88590737742288 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2359.757903842746, + -1922.4207551743027, + 31.88590737742288 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2357.159827631393, + -1920.9207551743027, + 31.88590737742288 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2354.56175142004, + -1919.4207551743027, + 31.88590737742288 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2351.9636752086867, + -1917.9207551743027, + 31.88590737742288 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2349.3655989973336, + -1916.4207551743027, + 31.88590737742288 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2346.7675227859804, + -1914.9207551743027, + 31.88590737742288 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2344.1694465746273, + -1913.4207551743027, + 31.88590737742288 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2341.571370363274, + -1911.9207551743027, + 31.88590737742288 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2341.571370363274, + -1911.9207551743027, + 31.88590737742288 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196626 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2340.071370363274, + -1909.3226789629493, + 31.88590737742288 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2338.571370363274, + -1906.724602751596, + 31.88590737742288 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2337.071370363274, + -1904.1265265402426, + 31.88590737742288 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2335.571370363274, + -1901.5284503288892, + 31.88590737742288 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2334.071370363274, + -1898.9303741175358, + 31.88590737742288 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -2332.571370363274, + -1896.3322979061825, + 31.88590737742288 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -2331.071370363274, + -1893.734221694829, + 31.88590737742288 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -2329.571370363274, + -1891.1361454834757, + 31.88590737742288 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -2328.071370363274, + -1888.5380692721224, + 31.88590737742288 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -2326.571370363274, + -1885.939993060769, + 31.88590737742288 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -2325.071370363274, + -1883.3419168494156, + 31.88590737742288 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -2323.571370363274, + -1880.7438406380622, + 31.88590737742288 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -2322.071370363274, + -1878.1457644267089, + 31.88590737742288 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -2320.571370363274, + -1875.5476882153555, + 31.88590737742288 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -2319.071370363274, + -1872.9496120040021, + 31.88590737742288 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -2317.571370363274, + -1870.3515357926487, + 31.88590737742288 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -2316.071370363274, + -1867.7534595812954, + 31.88590737742288 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -2314.571370363274, + -1865.155383369942, + 31.88590737742288 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -2313.071370363274, + -1862.5573071585886, + 31.88590737742288 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -2311.571370363274, + -1859.9592309472353, + 31.88590737742288 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2296.0, + -1840.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_15-14-2_639624893/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_15-14-2_639624893/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c5bb3e0a4110f5502478a5b485ca2ffd61b577e6 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_15-14-2_639624893/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2576.751096020574, + -2051.165064972616, + 22.882884346624408 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2574.153019809221, + -2052.665064972616, + 22.882884346624408 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2571.554943597868, + -2054.165064972616, + 22.882884346624408 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2568.9568673865147, + -2055.665064972616, + 22.882884346624408 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2566.3587911751615, + -2057.165064972616, + 22.882884346624408 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2563.7607149638084, + -2058.665064972616, + 22.882884346624408 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2561.162638752455, + -2060.165064972616, + 22.882884346624408 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2558.564562541102, + -2061.665064972616, + 22.882884346624408 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2555.966486329749, + -2063.165064972616, + 22.882884346624408 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2553.368410118396, + -2064.665064972616, + 22.882884346624408 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2550.7703339070426, + -2066.165064972616, + 22.882884346624408 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2548.1722576956895, + -2067.665064972616, + 22.882884346624408 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2545.5741814843363, + -2069.165064972616, + 22.882884346624408 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2542.976105272983, + -2070.665064972616, + 22.882884346624408 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2540.37802906163, + -2072.165064972616, + 22.882884346624408 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2537.779952850277, + -2073.665064972616, + 22.882884346624408 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2535.1818766389238, + -2075.165064972616, + 22.882884346624408 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2532.5838004275706, + -2076.665064972616, + 22.882884346624408 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2529.9857242162175, + -2078.165064972616, + 22.882884346624408 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2527.3876480048643, + -2079.665064972616, + 22.882884346624408 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2524.789571793511, + -2081.165064972616, + 22.882884346624408 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2522.191495582158, + -2082.665064972616, + 22.882884346624408 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2519.593419370805, + -2084.165064972616, + 22.882884346624408 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2516.9953431594517, + -2085.665064972616, + 22.882884346624408 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2514.3972669480986, + -2087.165064972616, + 22.882884346624408 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2511.7991907367455, + -2088.665064972616, + 22.882884346624408 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2509.2011145253923, + -2090.165064972616, + 22.882884346624408 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2506.603038314039, + -2091.665064972616, + 22.882884346624408 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2504.004962102686, + -2093.165064972616, + 22.882884346624408 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2501.406885891333, + -2094.665064972616, + 22.882884346624408 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2498.8088096799797, + -2096.165064972616, + 22.882884346624408 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2496.2107334686266, + -2097.665064972616, + 22.882884346624408 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2493.6126572572734, + -2099.165064972616, + 22.882884346624408 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2491.0145810459203, + -2100.665064972616, + 22.882884346624408 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2488.416504834567, + -2102.165064972616, + 22.882884346624408 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -2488.416504834567, + -2102.165064972616, + 22.882884346624408 + ], + "type": "go straight", + "value": 3, + "yaw": -2.842170943040401e-14 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -2485.416504834567, + -2102.165064972616, + 22.882884346624408 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -2482.416504834567, + -2102.165064972616, + 22.882884346624408 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -2479.416504834567, + -2102.165064972616, + 22.882884346624408 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -2476.416504834567, + -2102.165064972616, + 22.882884346624408 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -2473.416504834567, + -2102.165064972616, + 22.882884346624408 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -2470.416504834567, + -2102.165064972616, + 22.882884346624408 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -2467.416504834567, + -2102.165064972616, + 22.882884346624408 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -2464.416504834567, + -2102.165064972616, + 22.882884346624408 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -2461.416504834567, + -2102.165064972616, + 22.882884346624408 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -2458.416504834567, + -2102.165064972616, + 22.882884346624408 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -2455.416504834567, + -2102.165064972616, + 22.882884346624408 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -2452.416504834567, + -2102.165064972616, + 22.882884346624408 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -2449.416504834567, + -2102.165064972616, + 22.882884346624408 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -2446.416504834567, + -2102.165064972616, + 22.882884346624408 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -2446.416504834567, + -2102.165064972616, + 22.882884346624408 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -2443.818428623214, + -2103.665064972616, + 22.882884346624408 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -2441.220352411861, + -2105.165064972616, + 22.882884346624408 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -2438.6222762005077, + -2106.665064972616, + 22.882884346624408 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755983272 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2412.0, + -2116.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_15-15-12_1016499950/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_15-15-12_1016499950/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..380a7645fd81f9edba570fa3e45f3e2a07999379 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_15-15-12_1016499950/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3151.0510775544844, + -2885.7054928906227, + 19.639828814411732 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3154.0510775544844, + -2885.7054928906227, + 19.639828814411732 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3157.0510775544844, + -2885.7054928906227, + 19.639828814411732 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3160.0510775544844, + -2885.7054928906227, + 19.639828814411732 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3163.0510775544844, + -2885.7054928906227, + 19.639828814411732 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3166.0510775544844, + -2885.7054928906227, + 19.639828814411732 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3169.0510775544844, + -2885.7054928906227, + 19.639828814411732 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3172.0510775544844, + -2885.7054928906227, + 19.639828814411732 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 3175.0510775544844, + -2885.7054928906227, + 19.639828814411732 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 3175.0510775544844, + -2885.7054928906227, + 19.639828814411732 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 3177.6491537658376, + -2887.2054928906227, + 19.639828814411732 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 3180.2472299771907, + -2888.7054928906227, + 19.639828814411732 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 3182.845306188544, + -2890.2054928906227, + 19.639828814411732 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 3185.443382399897, + -2891.7054928906227, + 19.639828814411732 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 3188.04145861125, + -2893.2054928906227, + 19.639828814411732 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 3190.6395348226033, + -2894.7054928906227, + 19.639828814411732 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 3193.2376110339565, + -2896.2054928906227, + 19.639828814411732 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 3195.8356872453096, + -2897.7054928906227, + 19.639828814411732 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 3198.4337634566627, + -2899.2054928906227, + 19.639828814411732 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 3201.031839668016, + -2900.7054928906227, + 19.639828814411732 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 3203.629915879369, + -2902.2054928906227, + 19.639828814411732 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 3206.227992090722, + -2903.7054928906227, + 19.639828814411732 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 3208.8260683020753, + -2905.2054928906227, + 19.639828814411732 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 3211.4241445134285, + -2906.7054928906227, + 19.639828814411732 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 3214.0222207247816, + -2908.2054928906227, + 19.639828814411732 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 3216.6202969361348, + -2909.7054928906227, + 19.639828814411732 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 3219.218373147488, + -2911.2054928906227, + 19.639828814411732 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 3221.816449358841, + -2912.7054928906227, + 19.639828814411732 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 3224.414525570194, + -2914.2054928906227, + 19.639828814411732 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 3227.0126017815473, + -2915.7054928906227, + 19.639828814411732 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 3229.6106779929005, + -2917.2054928906227, + 19.639828814411732 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 3232.2087542042536, + -2918.7054928906227, + 19.639828814411732 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 3234.806830415607, + -2920.2054928906227, + 19.639828814411732 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 3237.40490662696, + -2921.7054928906227, + 19.639828814411732 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 3240.002982838313, + -2923.2054928906227, + 19.639828814411732 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 3242.601059049666, + -2924.7054928906227, + 19.639828814411732 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 3245.1991352610194, + -2926.2054928906227, + 19.639828814411732 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 3247.7972114723725, + -2927.7054928906227, + 19.639828814411732 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 3250.3952876837257, + -2929.2054928906227, + 19.639828814411732 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 3252.993363895079, + -2930.7054928906227, + 19.639828814411732 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 3255.591440106432, + -2932.2054928906227, + 19.639828814411732 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 3258.189516317785, + -2933.7054928906227, + 19.639828814411732 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 3260.7875925291382, + -2935.2054928906227, + 19.639828814411732 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 3263.3856687404914, + -2936.7054928906227, + 19.639828814411732 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 3265.9837449518445, + -2938.2054928906227, + 19.639828814411732 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 3268.5818211631977, + -2939.7054928906227, + 19.639828814411732 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 3271.179897374551, + -2941.2054928906227, + 19.639828814411732 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 3273.777973585904, + -2942.7054928906227, + 19.639828814411732 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 3276.376049797257, + -2944.2054928906227, + 19.639828814411732 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 3278.9741260086103, + -2945.7054928906227, + 19.639828814411732 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755983272 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3312.0, + -2960.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_15-17-32_787660056/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_15-17-32_787660056/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..38c23dc2f9142527e113e7a29b88a0b1ddda7c57 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_15-17-32_787660056/pose.jsonl @@ -0,0 +1,418 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4966.625861520605, + 1097.8365854930257, + 20.764464591891205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4966.625861520605, + 1094.8365854930257, + 20.764464591891205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4966.625861520605, + 1091.8365854930257, + 20.764464591891205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4966.625861520605, + 1088.8365854930257, + 20.764464591891205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4966.625861520605, + 1085.8365854930257, + 20.764464591891205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4966.625861520605, + 1082.8365854930257, + 20.764464591891205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4966.625861520605, + 1079.8365854930257, + 20.764464591891205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4966.625861520605, + 1076.8365854930257, + 20.764464591891205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4966.625861520605, + 1073.8365854930257, + 20.764464591891205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4966.625861520605, + 1070.8365854930257, + 20.764464591891205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4966.625861520605, + 1067.8365854930257, + 20.764464591891205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4966.625861520605, + 1064.8365854930257, + 20.764464591891205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4966.625861520605, + 1061.8365854930257, + 20.764464591891205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4966.625861520605, + 1058.8365854930257, + 20.764464591891205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4966.625861520605, + 1055.8365854930257, + 20.764464591891205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4966.625861520605, + 1052.8365854930257, + 20.764464591891205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 4966.625861520605, + 1049.8365854930257, + 20.764464591891205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 4966.625861520605, + 1046.8365854930257, + 20.764464591891205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 4966.625861520605, + 1043.8365854930257, + 20.764464591891205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 4966.625861520605, + 1040.8365854930257, + 20.764464591891205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 4966.625861520605, + 1037.8365854930257, + 20.764464591891205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 4966.625861520605, + 1034.8365854930257, + 20.764464591891205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 4966.625861520605, + 1031.8365854930257, + 20.764464591891205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 4966.625861520605, + 1028.8365854930257, + 20.764464591891205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 4966.625861520605, + 1025.8365854930257, + 20.764464591891205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 4966.625861520605, + 1022.8365854930257, + 20.764464591891205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 4966.625861520605, + 1019.8365854930257, + 20.764464591891205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 4966.625861520605, + 1016.8365854930257, + 20.764464591891205 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 4966.625861520605, + 1016.8365854930257, + 20.764464591891205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 4968.125861520605, + 1014.2385092816723, + 20.764464591891205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 4969.625861520605, + 1011.640433070319, + 20.764464591891205 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4972.0, + 932.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_15-20-53_1348325554/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_15-20-53_1348325554/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c221badcdbd73d0aecfa6c1b9124dcb9cea0b32f --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_15-20-53_1348325554/pose.jsonl @@ -0,0 +1,743 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4306.008121704106, + 172.7435301617717, + 17.638206620274772 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4306.008121704106, + 175.7435301617717, + 17.638206620274772 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4306.008121704106, + 178.7435301617717, + 17.638206620274772 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4306.008121704106, + 181.7435301617717, + 17.638206620274772 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4306.008121704106, + 184.7435301617717, + 17.638206620274772 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4306.008121704106, + 187.7435301617717, + 17.638206620274772 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4306.008121704106, + 190.7435301617717, + 17.638206620274772 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4306.008121704106, + 193.7435301617717, + 17.638206620274772 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4306.008121704106, + 196.7435301617717, + 17.638206620274772 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4306.008121704106, + 199.7435301617717, + 17.638206620274772 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4306.008121704106, + 202.7435301617717, + 17.638206620274772 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4306.008121704106, + 205.7435301617717, + 17.638206620274772 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4306.008121704106, + 208.7435301617717, + 17.638206620274772 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4306.008121704106, + 211.7435301617717, + 17.638206620274772 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4306.008121704106, + 214.7435301617717, + 17.638206620274772 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4306.008121704106, + 217.7435301617717, + 17.638206620274772 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 4306.008121704106, + 220.7435301617717, + 17.638206620274772 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 4306.008121704106, + 223.7435301617717, + 17.638206620274772 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 4306.008121704106, + 226.7435301617717, + 17.638206620274772 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 4306.008121704106, + 226.7435301617717, + 17.638206620274772 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 4307.508121704106, + 229.34160637312502, + 17.638206620274772 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 4309.008121704106, + 231.93968258447833, + 17.638206620274772 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 4310.508121704106, + 234.53775879583165, + 17.638206620274772 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 4310.508121704106, + 234.53775879583165, + 17.638206620274772 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 4310.508121704106, + 237.53775879583165, + 17.638206620274772 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 4310.508121704106, + 240.53775879583165, + 17.638206620274772 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 4310.508121704106, + 243.53775879583165, + 17.638206620274772 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 4310.508121704106, + 246.53775879583165, + 17.638206620274772 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 4310.508121704106, + 249.53775879583165, + 17.638206620274772 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 4310.508121704106, + 252.53775879583165, + 17.638206620274772 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 4310.508121704106, + 255.53775879583165, + 17.638206620274772 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 4310.508121704106, + 255.53775879583165, + 17.638206620274772 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 4310.508121704106, + 255.53775879583165, + 17.638206620274772 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 4307.910045492753, + 257.0377587958316, + 17.638206620274772 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991474 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 4305.3119692814, + 258.5377587958316, + 17.638206620274772 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 4302.713893070047, + 260.0377587958316, + 17.638206620274772 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 4300.1158168586935, + 261.5377587958316, + 17.638206620274772 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 4297.51774064734, + 263.0377587958316, + 17.638206620274772 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 4294.919664435987, + 264.5377587958316, + 17.638206620274772 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 4292.321588224634, + 266.0377587958316, + 17.638206620274772 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 4289.723512013281, + 267.5377587958316, + 17.638206620274772 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 4287.125435801928, + 269.0377587958316, + 17.638206620274772 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 4284.527359590575, + 270.5377587958316, + 17.638206620274772 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 4281.9292833792215, + 272.0377587958316, + 17.638206620274772 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 4279.331207167868, + 273.5377587958316, + 17.638206620274772 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 4276.733130956515, + 275.0377587958316, + 17.638206620274772 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 4274.135054745162, + 276.5377587958316, + 17.638206620274772 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 4271.536978533809, + 278.0377587958316, + 17.638206620274772 + ], + "type": "turn right", + "value": 30, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 4271.536978533809, + 278.0377587958316, + 17.638206620274772 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931673 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 4270.036978533809, + 280.63583500718494, + 17.638206620274772 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 4268.536978533809, + 283.23391121853825, + 17.638206620274772 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 4267.036978533809, + 285.83198742989157, + 17.638206620274772 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 4265.536978533809, + 288.4300636412449, + 17.638206620274772 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 4264.036978533809, + 291.0281398525982, + 17.638206620274772 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 4262.536978533809, + 293.6262160639515, + 17.638206620274772 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 4261.036978533809, + 296.22429227530483, + 17.638206620274772 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4248.0, + 332.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_15-22-0_682900658/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_15-22-0_682900658/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d277451e52abc9b4698bafe8390e5faf16f19148 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_15-22-0_682900658/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 548.6417724997665, + -1492.993608334815, + 34.994472715337736 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 546.0436962884132, + -1491.493608334815, + 34.994472715337736 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 543.4456200770599, + -1489.993608334815, + 34.994472715337736 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 540.8475438657065, + -1488.493608334815, + 34.994472715337736 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 538.2494676543531, + -1486.993608334815, + 34.994472715337736 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 535.6513914429997, + -1485.493608334815, + 34.994472715337736 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 533.0533152316464, + -1483.993608334815, + 34.994472715337736 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 530.455239020293, + -1482.493608334815, + 34.994472715337736 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 527.8571628089396, + -1480.993608334815, + 34.994472715337736 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 525.2590865975862, + -1479.493608334815, + 34.994472715337736 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 522.6610103862329, + -1477.993608334815, + 34.994472715337736 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 520.0629341748795, + -1476.493608334815, + 34.994472715337736 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 517.4648579635261, + -1474.993608334815, + 34.994472715337736 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 514.8667817521728, + -1473.493608334815, + 34.994472715337736 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 512.2687055408194, + -1471.993608334815, + 34.994472715337736 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 509.67062932946607, + -1470.493608334815, + 34.994472715337736 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 507.07255311811275, + -1468.993608334815, + 34.994472715337736 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 504.47447690675943, + -1467.493608334815, + 34.994472715337736 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 501.8764006954061, + -1465.993608334815, + 34.994472715337736 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 499.2783244840528, + -1464.493608334815, + 34.994472715337736 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 496.6802482726995, + -1462.993608334815, + 34.994472715337736 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 494.08217206134617, + -1461.493608334815, + 34.994472715337736 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 491.48409584999285, + -1459.993608334815, + 34.994472715337736 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 488.88601963863954, + -1458.493608334815, + 34.994472715337736 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 486.2879434272862, + -1456.993608334815, + 34.994472715337736 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 483.6898672159329, + -1455.493608334815, + 34.994472715337736 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 481.0917910045796, + -1453.993608334815, + 34.994472715337736 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 478.4937147932263, + -1452.493608334815, + 34.994472715337736 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 478.4937147932263, + -1452.493608334815, + 34.994472715337736 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 475.4937147932263, + -1452.493608334815, + 34.994472715337736 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 472.4937147932263, + -1452.493608334815, + 34.994472715337736 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 469.4937147932263, + -1452.493608334815, + 34.994472715337736 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 466.4937147932263, + -1452.493608334815, + 34.994472715337736 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 463.4937147932263, + -1452.493608334815, + 34.994472715337736 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 460.4937147932263, + -1452.493608334815, + 34.994472715337736 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 457.4937147932263, + -1452.493608334815, + 34.994472715337736 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 454.4937147932263, + -1452.493608334815, + 34.994472715337736 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 451.4937147932263, + -1452.493608334815, + 34.994472715337736 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 448.4937147932263, + -1452.493608334815, + 34.994472715337736 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 445.4937147932263, + -1452.493608334815, + 34.994472715337736 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 442.4937147932263, + -1452.493608334815, + 34.994472715337736 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 439.4937147932263, + -1452.493608334815, + 34.994472715337736 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 436.4937147932263, + -1452.493608334815, + 34.994472715337736 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 433.4937147932263, + -1452.493608334815, + 34.994472715337736 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 430.4937147932263, + -1452.493608334815, + 34.994472715337736 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 427.4937147932263, + -1452.493608334815, + 34.994472715337736 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 380.0, + -1436.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_15-23-23_1533499281/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_15-23-23_1533499281/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1b53e5ebced7efb92be44b3dd71e5badaf42127f --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_15-23-23_1533499281/pose.jsonl @@ -0,0 +1,782 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4203.351318911463, + 1417.68513059494, + 19.098060121019707 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4203.351318911463, + 1414.68513059494, + 19.098060121019707 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4203.351318911463, + 1411.68513059494, + 19.098060121019707 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4203.351318911463, + 1408.68513059494, + 19.098060121019707 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4203.351318911463, + 1408.68513059494, + 19.098060121019707 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4201.851318911463, + 1406.0870543835865, + 19.098060121019707 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4200.351318911463, + 1403.4889781722331, + 19.098060121019707 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4200.351318911463, + 1403.4889781722331, + 19.098060121019707 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4197.75324270011, + 1401.9889781722331, + 19.098060121019707 + ], + "type": "turn left", + "value": 30, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4197.75324270011, + 1401.9889781722331, + 19.098060121019707 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931673 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4197.75324270011, + 1401.9889781722331, + 19.098060121019707 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948684 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4197.75324270011, + 1398.9889781722331, + 19.098060121019707 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4197.75324270011, + 1395.9889781722331, + 19.098060121019707 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4197.75324270011, + 1392.9889781722331, + 19.098060121019707 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4197.75324270011, + 1389.9889781722331, + 19.098060121019707 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4197.75324270011, + 1386.9889781722331, + 19.098060121019707 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 4197.75324270011, + 1383.9889781722331, + 19.098060121019707 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 4197.75324270011, + 1380.9889781722331, + 19.098060121019707 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 4197.75324270011, + 1377.9889781722331, + 19.098060121019707 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 4197.75324270011, + 1374.9889781722331, + 19.098060121019707 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 4197.75324270011, + 1371.9889781722331, + 19.098060121019707 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 4197.75324270011, + 1368.9889781722331, + 19.098060121019707 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 4197.75324270011, + 1365.9889781722331, + 19.098060121019707 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 4197.75324270011, + 1362.9889781722331, + 19.098060121019707 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 4197.75324270011, + 1359.9889781722331, + 19.098060121019707 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 4197.75324270011, + 1356.9889781722331, + 19.098060121019707 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 4197.75324270011, + 1353.9889781722331, + 19.098060121019707 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 4197.75324270011, + 1353.9889781722331, + 19.098060121019707 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 4199.25324270011, + 1351.3909019608798, + 19.098060121019707 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 4200.75324270011, + 1348.7928257495264, + 19.098060121019707 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 4202.25324270011, + 1346.194749538173, + 19.098060121019707 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 4203.75324270011, + 1343.5966733268197, + 19.098060121019707 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 4205.25324270011, + 1340.9985971154663, + 19.098060121019707 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 4206.75324270011, + 1338.400520904113, + 19.098060121019707 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 4208.25324270011, + 1335.8024446927595, + 19.098060121019707 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 4209.75324270011, + 1333.2043684814062, + 19.098060121019707 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 4211.25324270011, + 1330.6062922700528, + 19.098060121019707 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 4212.75324270011, + 1328.0082160586994, + 19.098060121019707 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 4214.25324270011, + 1325.410139847346, + 19.098060121019707 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 4215.75324270011, + 1322.8120636359927, + 19.098060121019707 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 4217.25324270011, + 1320.2139874246393, + 19.098060121019707 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 4218.75324270011, + 1317.615911213286, + 19.098060121019707 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 4220.25324270011, + 1315.0178350019326, + 19.098060121019707 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 4221.75324270011, + 1312.4197587905792, + 19.098060121019707 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 4223.25324270011, + 1309.8216825792258, + 19.098060121019707 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 4224.75324270011, + 1307.2236063678724, + 19.098060121019707 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 4226.25324270011, + 1304.625530156519, + 19.098060121019707 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 4227.75324270011, + 1302.0274539451657, + 19.098060121019707 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 4229.25324270011, + 1299.4293777338123, + 19.098060121019707 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 4230.75324270011, + 1296.831301522459, + 19.098060121019707 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 4232.25324270011, + 1294.2332253111056, + 19.098060121019707 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 4233.75324270011, + 1291.6351490997522, + 19.098060121019707 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 4235.25324270011, + 1289.0370728883988, + 19.098060121019707 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 4236.75324270011, + 1286.4389966770455, + 19.098060121019707 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 4238.25324270011, + 1283.840920465692, + 19.098060121019707 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 4239.75324270011, + 1281.2428442543387, + 19.098060121019707 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 4241.25324270011, + 1278.6447680429853, + 19.098060121019707 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 4242.75324270011, + 1276.046691831632, + 19.098060121019707 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 4244.25324270011, + 1273.4486156202786, + 19.098060121019707 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4252.0, + 1252.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_15-24-22_78359216/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_15-24-22_78359216/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..391aa9d4da1f4a3c8bd9837f3e6c2697560dca53 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_15-24-22_78359216/pose.jsonl @@ -0,0 +1,574 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 683.518093112695, + 668.0361598514968, + 31.279279754513826 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 685.018093112695, + 670.63423606285, + 31.279279754513826 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 686.518093112695, + 673.2323122742034, + 31.279279754513826 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 688.018093112695, + 675.8303884855568, + 31.279279754513826 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 689.518093112695, + 678.4284646969102, + 31.279279754513826 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 691.018093112695, + 681.0265409082635, + 31.279279754513826 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 692.518093112695, + 683.6246171196169, + 31.279279754513826 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 694.018093112695, + 686.2226933309703, + 31.279279754513826 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 695.518093112695, + 688.8207695423237, + 31.279279754513826 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 697.018093112695, + 691.418845753677, + 31.279279754513826 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 698.518093112695, + 694.0169219650304, + 31.279279754513826 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 700.018093112695, + 696.6149981763838, + 31.279279754513826 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 701.518093112695, + 699.2130743877372, + 31.279279754513826 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 703.018093112695, + 701.8111505990905, + 31.279279754513826 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 704.518093112695, + 704.4092268104439, + 31.279279754513826 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 706.018093112695, + 707.0073030217973, + 31.279279754513826 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 707.518093112695, + 709.6053792331506, + 31.279279754513826 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 709.018093112695, + 712.203455444504, + 31.279279754513826 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 710.518093112695, + 714.8015316558574, + 31.279279754513826 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 712.018093112695, + 717.3996078672108, + 31.279279754513826 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 713.518093112695, + 719.9976840785641, + 31.279279754513826 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 715.018093112695, + 722.5957602899175, + 31.279279754513826 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 716.518093112695, + 725.1938365012709, + 31.279279754513826 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 718.018093112695, + 727.7919127126243, + 31.279279754513826 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 719.518093112695, + 730.3899889239776, + 31.279279754513826 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 721.018093112695, + 732.988065135331, + 31.279279754513826 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 722.518093112695, + 735.5861413466844, + 31.279279754513826 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 724.018093112695, + 738.1842175580377, + 31.279279754513826 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 725.518093112695, + 740.7822937693911, + 31.279279754513826 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 727.018093112695, + 743.3803699807445, + 31.279279754513826 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 728.518093112695, + 745.9784461920979, + 31.279279754513826 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 730.018093112695, + 748.5765224034512, + 31.279279754513826 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 731.518093112695, + 751.1745986148046, + 31.279279754513826 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 733.018093112695, + 753.772674826158, + 31.279279754513826 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 734.518093112695, + 756.3707510375114, + 31.279279754513826 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 736.018093112695, + 758.9688272488647, + 31.279279754513826 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 737.518093112695, + 761.5669034602181, + 31.279279754513826 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 739.018093112695, + 764.1649796715715, + 31.279279754513826 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 740.518093112695, + 766.7630558829248, + 31.279279754513826 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 742.018093112695, + 769.3611320942782, + 31.279279754513826 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 742.018093112695, + 769.3611320942782, + 31.279279754513826 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 742.018093112695, + 772.3611320942782, + 31.279279754513826 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 742.018093112695, + 775.3611320942782, + 31.279279754513826 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 756.0, + 800.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_15-26-45_1303785506/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_15-26-45_1303785506/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c266cf3e67795fdd23afe90468d86de4ff67f368 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_15-26-45_1303785506/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2347.738835859882, + 264.22577706892775, + 20.4239423432301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2346.238835859882, + 261.62770085757444, + 20.4239423432301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2344.738835859882, + 259.0296246462211, + 20.4239423432301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2343.238835859882, + 256.4315484348678, + 20.4239423432301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2341.738835859882, + 253.8334722235145, + 20.4239423432301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2340.238835859882, + 251.23539601216117, + 20.4239423432301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2338.738835859882, + 248.63731980080786, + 20.4239423432301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2337.238835859882, + 246.03924358945454, + 20.4239423432301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2335.738835859882, + 243.44116737810123, + 20.4239423432301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2334.238835859882, + 240.8430911667479, + 20.4239423432301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2332.738835859882, + 238.2450149553946, + 20.4239423432301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2331.238835859882, + 235.64693874404128, + 20.4239423432301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2329.738835859882, + 233.04886253268796, + 20.4239423432301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2328.238835859882, + 230.45078632133465, + 20.4239423432301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2326.738835859882, + 227.85271010998133, + 20.4239423432301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2325.238835859882, + 225.25463389862801, + 20.4239423432301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2323.738835859882, + 222.6565576872747, + 20.4239423432301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2322.238835859882, + 220.05848147592138, + 20.4239423432301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2320.738835859882, + 217.46040526456807, + 20.4239423432301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2319.238835859882, + 214.86232905321475, + 20.4239423432301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2317.738835859882, + 212.26425284186143, + 20.4239423432301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2316.238835859882, + 209.66617663050812, + 20.4239423432301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2314.738835859882, + 207.0681004191548, + 20.4239423432301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2313.238835859882, + 204.4700242078015, + 20.4239423432301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2311.738835859882, + 201.87194799644817, + 20.4239423432301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2310.238835859882, + 199.27387178509485, + 20.4239423432301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2308.738835859882, + 196.67579557374154, + 20.4239423432301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2307.238835859882, + 194.07771936238822, + 20.4239423432301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2305.738835859882, + 191.4796431510349, + 20.4239423432301 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2305.738835859882, + 191.4796431510349, + 20.4239423432301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2305.738835859882, + 188.4796431510349, + 20.4239423432301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2305.738835859882, + 185.4796431510349, + 20.4239423432301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2305.738835859882, + 182.4796431510349, + 20.4239423432301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2305.738835859882, + 179.4796431510349, + 20.4239423432301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2305.738835859882, + 176.4796431510349, + 20.4239423432301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -2305.738835859882, + 173.4796431510349, + 20.4239423432301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -2305.738835859882, + 170.4796431510349, + 20.4239423432301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -2305.738835859882, + 167.4796431510349, + 20.4239423432301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -2305.738835859882, + 164.4796431510349, + 20.4239423432301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -2305.738835859882, + 161.4796431510349, + 20.4239423432301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -2305.738835859882, + 158.4796431510349, + 20.4239423432301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -2305.738835859882, + 155.4796431510349, + 20.4239423432301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -2305.738835859882, + 152.4796431510349, + 20.4239423432301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -2305.738835859882, + 149.4796431510349, + 20.4239423432301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -2305.738835859882, + 146.4796431510349, + 20.4239423432301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -2305.738835859882, + 143.4796431510349, + 20.4239423432301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -2305.738835859882, + 140.4796431510349, + 20.4239423432301 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2300.0, + 120.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_15-3-26_269365760/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_15-3-26_269365760/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d67ef4f1db5e0d8515ad0716d0ea70b7138ce449 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_15-3-26_269365760/pose.jsonl @@ -0,0 +1,509 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 908.842051592429, + 1368.2704325971938, + 39.67051280797662 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 910.342051592429, + 1370.8685088085472, + 39.67051280797662 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 911.842051592429, + 1373.4665850199005, + 39.67051280797662 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 913.342051592429, + 1376.064661231254, + 39.67051280797662 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 914.842051592429, + 1378.6627374426073, + 39.67051280797662 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 916.342051592429, + 1381.2608136539607, + 39.67051280797662 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 917.842051592429, + 1383.858889865314, + 39.67051280797662 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 919.342051592429, + 1386.4569660766674, + 39.67051280797662 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 920.842051592429, + 1389.0550422880208, + 39.67051280797662 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 922.342051592429, + 1391.6531184993742, + 39.67051280797662 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 923.842051592429, + 1394.2511947107275, + 39.67051280797662 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 925.342051592429, + 1396.849270922081, + 39.67051280797662 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 926.842051592429, + 1399.4473471334343, + 39.67051280797662 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 928.342051592429, + 1402.0454233447877, + 39.67051280797662 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 929.842051592429, + 1404.643499556141, + 39.67051280797662 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 931.342051592429, + 1407.2415757674944, + 39.67051280797662 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 932.842051592429, + 1409.8396519788478, + 39.67051280797662 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 934.342051592429, + 1412.4377281902011, + 39.67051280797662 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 935.842051592429, + 1415.0358044015545, + 39.67051280797662 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 937.342051592429, + 1417.633880612908, + 39.67051280797662 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 938.842051592429, + 1420.2319568242613, + 39.67051280797662 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 940.342051592429, + 1422.8300330356146, + 39.67051280797662 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 941.842051592429, + 1425.428109246968, + 39.67051280797662 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 943.342051592429, + 1428.0261854583214, + 39.67051280797662 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 944.842051592429, + 1430.6242616696748, + 39.67051280797662 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 946.342051592429, + 1433.2223378810281, + 39.67051280797662 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 947.842051592429, + 1435.8204140923815, + 39.67051280797662 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 949.342051592429, + 1438.4184903037349, + 39.67051280797662 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 950.842051592429, + 1441.0165665150882, + 39.67051280797662 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 952.342051592429, + 1443.6146427264416, + 39.67051280797662 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 953.842051592429, + 1446.212718937795, + 39.67051280797662 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 955.342051592429, + 1448.8107951491484, + 39.67051280797662 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 956.842051592429, + 1451.4088713605017, + 39.67051280797662 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 958.342051592429, + 1454.006947571855, + 39.67051280797662 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 959.842051592429, + 1456.6050237832085, + 39.67051280797662 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 959.842051592429, + 1456.6050237832085, + 39.67051280797662 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 959.842051592429, + 1459.6050237832085, + 39.67051280797662 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 959.842051592429, + 1462.6050237832085, + 39.67051280797662 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 980.0, + 1504.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_15-36-28_1988180237/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_15-36-28_1988180237/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a039c3f4bc689653eba499cb718ff950b11585e8 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_15-36-28_1988180237/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2848.7484398985075, + 1268.296581422901, + 17.319127642515483 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2848.7484398985075, + 1265.296581422901, + 17.319127642515483 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2848.7484398985075, + 1262.296581422901, + 17.319127642515483 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2848.7484398985075, + 1259.296581422901, + 17.319127642515483 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2848.7484398985075, + 1256.296581422901, + 17.319127642515483 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2848.7484398985075, + 1253.296581422901, + 17.319127642515483 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2848.7484398985075, + 1250.296581422901, + 17.319127642515483 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2848.7484398985075, + 1247.296581422901, + 17.319127642515483 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2848.7484398985075, + 1244.296581422901, + 17.319127642515483 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 2848.7484398985075, + 1241.296581422901, + 17.319127642515483 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2848.7484398985075, + 1238.296581422901, + 17.319127642515483 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2848.7484398985075, + 1235.296581422901, + 17.319127642515483 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 2848.7484398985075, + 1232.296581422901, + 17.319127642515483 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 2848.7484398985075, + 1229.296581422901, + 17.319127642515483 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 2848.7484398985075, + 1226.296581422901, + 17.319127642515483 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 2848.7484398985075, + 1223.296581422901, + 17.319127642515483 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 2848.7484398985075, + 1220.296581422901, + 17.319127642515483 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 2848.7484398985075, + 1217.296581422901, + 17.319127642515483 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 2848.7484398985075, + 1214.296581422901, + 17.319127642515483 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 2848.7484398985075, + 1211.296581422901, + 17.319127642515483 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 2848.7484398985075, + 1208.296581422901, + 17.319127642515483 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 2848.7484398985075, + 1205.296581422901, + 17.319127642515483 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 2848.7484398985075, + 1202.296581422901, + 17.319127642515483 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 2848.7484398985075, + 1199.296581422901, + 17.319127642515483 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 2848.7484398985075, + 1196.296581422901, + 17.319127642515483 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 2848.7484398985075, + 1193.296581422901, + 17.319127642515483 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 2848.7484398985075, + 1190.296581422901, + 17.319127642515483 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 2848.7484398985075, + 1187.296581422901, + 17.319127642515483 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 2848.7484398985075, + 1184.296581422901, + 17.319127642515483 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 2848.7484398985075, + 1181.296581422901, + 17.319127642515483 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 2848.7484398985075, + 1178.296581422901, + 17.319127642515483 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 2848.7484398985075, + 1175.296581422901, + 17.319127642515483 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 2848.7484398985075, + 1172.296581422901, + 17.319127642515483 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 2848.7484398985075, + 1169.296581422901, + 17.319127642515483 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 2848.7484398985075, + 1166.296581422901, + 17.319127642515483 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 2848.7484398985075, + 1163.296581422901, + 17.319127642515483 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 2848.7484398985075, + 1160.296581422901, + 17.319127642515483 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 2848.7484398985075, + 1157.296581422901, + 17.319127642515483 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 2848.7484398985075, + 1154.296581422901, + 17.319127642515483 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 2848.7484398985075, + 1151.296581422901, + 17.319127642515483 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 2848.7484398985075, + 1148.296581422901, + 17.319127642515483 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 2848.7484398985075, + 1145.296581422901, + 17.319127642515483 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 2848.7484398985075, + 1142.296581422901, + 17.319127642515483 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 2848.7484398985075, + 1139.296581422901, + 17.319127642515483 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 2848.7484398985075, + 1139.296581422901, + 17.319127642515483 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 2847.2484398985075, + 1136.6985052115476, + 17.319127642515483 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 2845.7484398985075, + 1134.1004290001943, + 17.319127642515483 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 2844.2484398985075, + 1131.5023527888409, + 17.319127642515483 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2844.0, + 1100.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_15-46-3_1405097218/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_15-46-3_1405097218/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..13d1ad78d173ff4988e6341e09839bc35ed73011 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_15-46-3_1405097218/pose.jsonl @@ -0,0 +1,522 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -977.6623412146864, + 171.46966659269515, + 19.756918512184825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -980.2604174260398, + 172.96966659269515, + 19.756918512184825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -982.8584936373932, + 174.46966659269515, + 19.756918512184825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -985.4565698487465, + 175.96966659269515, + 19.756918512184825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -988.0546460600999, + 177.46966659269515, + 19.756918512184825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -990.6527222714533, + 178.96966659269515, + 19.756918512184825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -993.2507984828067, + 180.46966659269515, + 19.756918512184825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -995.84887469416, + 181.96966659269515, + 19.756918512184825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -998.4469509055134, + 183.46966659269515, + 19.756918512184825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1001.0450271168668, + 184.96966659269515, + 19.756918512184825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1003.6431033282201, + 186.46966659269515, + 19.756918512184825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1006.2411795395735, + 187.96966659269515, + 19.756918512184825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1008.8392557509269, + 189.46966659269515, + 19.756918512184825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1011.4373319622803, + 190.96966659269515, + 19.756918512184825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1014.0354081736336, + 192.46966659269515, + 19.756918512184825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1016.633484384987, + 193.96966659269515, + 19.756918512184825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1019.2315605963404, + 195.46966659269515, + 19.756918512184825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1021.8296368076938, + 196.96966659269515, + 19.756918512184825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1024.4277130190471, + 198.46966659269515, + 19.756918512184825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1027.0257892304005, + 199.96966659269515, + 19.756918512184825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1029.6238654417539, + 201.46966659269515, + 19.756918512184825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1032.2219416531073, + 202.96966659269515, + 19.756918512184825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1034.8200178644606, + 204.46966659269515, + 19.756918512184825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1037.418094075814, + 205.96966659269515, + 19.756918512184825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1040.0161702871674, + 207.46966659269515, + 19.756918512184825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1042.6142464985207, + 208.96966659269515, + 19.756918512184825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1045.2123227098741, + 210.46966659269515, + 19.756918512184825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1047.8103989212275, + 211.96966659269515, + 19.756918512184825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1050.4084751325809, + 213.46966659269515, + 19.756918512184825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1053.0065513439342, + 214.96966659269515, + 19.756918512184825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1055.6046275552876, + 216.46966659269515, + 19.756918512184825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1058.202703766641, + 217.96966659269515, + 19.756918512184825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1060.8007799779944, + 219.46966659269515, + 19.756918512184825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1063.3988561893477, + 220.96966659269515, + 19.756918512184825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1065.996932400701, + 222.46966659269515, + 19.756918512184825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1068.5950086120545, + 223.96966659269515, + 19.756918512184825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1071.1930848234078, + 225.46966659269515, + 19.756918512184825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1073.7911610347612, + 226.96966659269515, + 19.756918512184825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1076.3892372461146, + 228.46966659269515, + 19.756918512184825 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1128.0, + 256.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_15-7-37_1924200848/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_15-7-37_1924200848/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..86cfd3010543128571f1facd3066da6beb18388a --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_15-7-37_1924200848/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2800.615198101885, + 1081.9975709240075, + 35.06944525723528 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2797.615198101885, + 1081.9975709240075, + 35.06944525723528 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2794.615198101885, + 1081.9975709240075, + 35.06944525723528 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2791.615198101885, + 1081.9975709240075, + 35.06944525723528 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2788.615198101885, + 1081.9975709240075, + 35.06944525723528 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2785.615198101885, + 1081.9975709240075, + 35.06944525723528 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2782.615198101885, + 1081.9975709240075, + 35.06944525723528 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2779.615198101885, + 1081.9975709240075, + 35.06944525723528 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2776.615198101885, + 1081.9975709240075, + 35.06944525723528 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2773.615198101885, + 1081.9975709240075, + 35.06944525723528 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2770.615198101885, + 1081.9975709240075, + 35.06944525723528 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2767.615198101885, + 1081.9975709240075, + 35.06944525723528 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2764.615198101885, + 1081.9975709240075, + 35.06944525723528 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2761.615198101885, + 1081.9975709240075, + 35.06944525723528 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2758.615198101885, + 1081.9975709240075, + 35.06944525723528 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2755.615198101885, + 1081.9975709240075, + 35.06944525723528 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2752.615198101885, + 1081.9975709240075, + 35.06944525723528 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2752.615198101885, + 1081.9975709240075, + 35.06944525723528 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2750.017121890532, + 1080.4975709240075, + 35.06944525723528 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2747.419045679179, + 1078.9975709240075, + 35.06944525723528 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2744.8209694678258, + 1077.4975709240075, + 35.06944525723528 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2742.2228932564726, + 1075.9975709240075, + 35.06944525723528 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2739.6248170451195, + 1074.4975709240075, + 35.06944525723528 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2737.0267408337663, + 1072.9975709240075, + 35.06944525723528 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2734.428664622413, + 1071.4975709240075, + 35.06944525723528 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2731.83058841106, + 1069.9975709240075, + 35.06944525723528 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2729.232512199707, + 1068.4975709240075, + 35.06944525723528 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2726.6344359883537, + 1066.9975709240075, + 35.06944525723528 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2724.0363597770006, + 1065.4975709240075, + 35.06944525723528 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2721.4382835656475, + 1063.9975709240075, + 35.06944525723528 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2718.8402073542943, + 1062.4975709240075, + 35.06944525723528 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2716.242131142941, + 1060.9975709240075, + 35.06944525723528 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2713.644054931588, + 1059.4975709240075, + 35.06944525723528 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2711.045978720235, + 1057.9975709240075, + 35.06944525723528 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2708.4479025088817, + 1056.4975709240075, + 35.06944525723528 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -2705.8498262975286, + 1054.9975709240075, + 35.06944525723528 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -2703.2517500861754, + 1053.4975709240075, + 35.06944525723528 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -2700.6536738748223, + 1051.9975709240075, + 35.06944525723528 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -2698.055597663469, + 1050.4975709240075, + 35.06944525723528 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -2695.457521452116, + 1048.9975709240075, + 35.06944525723528 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -2692.859445240763, + 1047.4975709240075, + 35.06944525723528 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -2690.2613690294097, + 1045.9975709240075, + 35.06944525723528 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -2687.6632928180566, + 1044.4975709240075, + 35.06944525723528 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -2685.0652166067034, + 1042.9975709240075, + 35.06944525723528 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -2682.4671403953503, + 1041.4975709240075, + 35.06944525723528 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -2679.869064183997, + 1039.9975709240075, + 35.06944525723528 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -2677.270987972644, + 1038.4975709240075, + 35.06944525723528 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -2674.672911761291, + 1036.9975709240075, + 35.06944525723528 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -2672.0748355499377, + 1035.4975709240075, + 35.06944525723528 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -2672.0748355499377, + 1035.4975709240075, + 35.06944525723528 + ], + "type": "go straight", + "value": 3, + "yaw": -2.842170943040401e-14 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -2669.0748355499377, + 1035.4975709240075, + 35.06944525723528 + ], + "type": "stop", + "value": 0, + "yaw": -2.842170943040401e-14 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2640.0, + 1024.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_15-7-8_1421449833/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_15-7-8_1421449833/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..16aaab930a774d7a49228f1afa54deb9d4c6c23e --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_15-7-8_1421449833/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4715.446032008251, + -2584.752584618094, + 19.21274755651843 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4718.446032008251, + -2584.752584618094, + 19.21274755651843 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4721.446032008251, + -2584.752584618094, + 19.21274755651843 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4724.446032008251, + -2584.752584618094, + 19.21274755651843 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4727.446032008251, + -2584.752584618094, + 19.21274755651843 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4730.446032008251, + -2584.752584618094, + 19.21274755651843 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4733.446032008251, + -2584.752584618094, + 19.21274755651843 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4736.446032008251, + -2584.752584618094, + 19.21274755651843 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4739.446032008251, + -2584.752584618094, + 19.21274755651843 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4739.446032008251, + -2584.752584618094, + 19.21274755651843 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4742.044108219604, + -2583.252584618094, + 19.21274755651843 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4744.642184430957, + -2581.752584618094, + 19.21274755651843 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4747.24026064231, + -2580.252584618094, + 19.21274755651843 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4749.838336853663, + -2578.752584618094, + 19.21274755651843 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4752.4364130650165, + -2577.252584618094, + 19.21274755651843 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4755.03448927637, + -2575.752584618094, + 19.21274755651843 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 4757.632565487723, + -2574.252584618094, + 19.21274755651843 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 4760.230641699076, + -2572.752584618094, + 19.21274755651843 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 4762.828717910429, + -2571.252584618094, + 19.21274755651843 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 4765.426794121782, + -2569.752584618094, + 19.21274755651843 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 4768.024870333135, + -2568.252584618094, + 19.21274755651843 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 4770.6229465444885, + -2566.752584618094, + 19.21274755651843 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 4773.221022755842, + -2565.252584618094, + 19.21274755651843 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 4775.819098967195, + -2563.752584618094, + 19.21274755651843 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 4778.417175178548, + -2562.252584618094, + 19.21274755651843 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 4781.015251389901, + -2560.752584618094, + 19.21274755651843 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 4783.613327601254, + -2559.252584618094, + 19.21274755651843 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 4786.211403812607, + -2557.752584618094, + 19.21274755651843 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 4788.8094800239605, + -2556.252584618094, + 19.21274755651843 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 4791.407556235314, + -2554.752584618094, + 19.21274755651843 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 4794.005632446667, + -2553.252584618094, + 19.21274755651843 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 4796.60370865802, + -2551.752584618094, + 19.21274755651843 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 4799.201784869373, + -2550.252584618094, + 19.21274755651843 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 4801.799861080726, + -2548.752584618094, + 19.21274755651843 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 4804.397937292079, + -2547.252584618094, + 19.21274755651843 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 4806.996013503433, + -2545.752584618094, + 19.21274755651843 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 4809.594089714786, + -2544.252584618094, + 19.21274755651843 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 4812.192165926139, + -2542.752584618094, + 19.21274755651843 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 4814.790242137492, + -2541.252584618094, + 19.21274755651843 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 4817.388318348845, + -2539.752584618094, + 19.21274755651843 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 4819.986394560198, + -2538.252584618094, + 19.21274755651843 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 4822.584470771551, + -2536.752584618094, + 19.21274755651843 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 4825.182546982905, + -2535.252584618094, + 19.21274755651843 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 4827.780623194258, + -2533.752584618094, + 19.21274755651843 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 4830.378699405611, + -2532.252584618094, + 19.21274755651843 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 4832.976775616964, + -2530.752584618094, + 19.21274755651843 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 4835.574851828317, + -2529.252584618094, + 19.21274755651843 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 4835.574851828317, + -2529.252584618094, + 19.21274755651843 + ], + "type": "go straight", + "value": 3, + "yaw": 2.842170943040401e-14 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 4838.574851828317, + -2529.252584618094, + 19.21274755651843 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 4841.574851828317, + -2529.252584618094, + 19.21274755651843 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4880.0, + -2512.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_16-0-26_1599300131/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_16-0-26_1599300131/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8e9a3bd3af408392bbcdc65fd4305244df7af81a --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_16-0-26_1599300131/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -333.22890664115755, + -2215.5658475467644, + 21.28636789335279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -333.22890664115755, + -2212.5658475467644, + 21.28636789335279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -333.22890664115755, + -2209.5658475467644, + 21.28636789335279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -333.22890664115755, + -2206.5658475467644, + 21.28636789335279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -333.22890664115755, + -2203.5658475467644, + 21.28636789335279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -333.22890664115755, + -2200.5658475467644, + 21.28636789335279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -333.22890664115755, + -2197.5658475467644, + 21.28636789335279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -333.22890664115755, + -2194.5658475467644, + 21.28636789335279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -333.22890664115755, + -2191.5658475467644, + 21.28636789335279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -333.22890664115755, + -2188.5658475467644, + 21.28636789335279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -333.22890664115755, + -2185.5658475467644, + 21.28636789335279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -333.22890664115755, + -2182.5658475467644, + 21.28636789335279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -333.22890664115755, + -2179.5658475467644, + 21.28636789335279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -333.22890664115755, + -2176.5658475467644, + 21.28636789335279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -333.22890664115755, + -2173.5658475467644, + 21.28636789335279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -333.22890664115755, + -2170.5658475467644, + 21.28636789335279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -333.22890664115755, + -2167.5658475467644, + 21.28636789335279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -333.22890664115755, + -2164.5658475467644, + 21.28636789335279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -333.22890664115755, + -2161.5658475467644, + 21.28636789335279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -333.22890664115755, + -2158.5658475467644, + 21.28636789335279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -333.22890664115755, + -2155.5658475467644, + 21.28636789335279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -333.22890664115755, + -2152.5658475467644, + 21.28636789335279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -333.22890664115755, + -2149.5658475467644, + 21.28636789335279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -333.22890664115755, + -2146.5658475467644, + 21.28636789335279 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -333.22890664115755, + -2146.5658475467644, + 21.28636789335279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -331.72890664115755, + -2143.9677713354113, + 21.28636789335279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -330.22890664115755, + -2141.369695124058, + 21.28636789335279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -328.72890664115755, + -2138.771618912705, + 21.28636789335279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -327.22890664115755, + -2136.173542701352, + 21.28636789335279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -325.72890664115755, + -2133.5754664899987, + 21.28636789335279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -324.22890664115755, + -2130.9773902786455, + 21.28636789335279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -322.72890664115755, + -2128.3793140672924, + 21.28636789335279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -321.22890664115755, + -2125.7812378559393, + 21.28636789335279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -319.72890664115755, + -2123.183161644586, + 21.28636789335279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -318.22890664115755, + -2120.585085433233, + 21.28636789335279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -316.72890664115755, + -2117.98700922188, + 21.28636789335279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -315.22890664115755, + -2115.3889330105267, + 21.28636789335279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -313.72890664115755, + -2112.7908567991735, + 21.28636789335279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -312.22890664115755, + -2110.1927805878204, + 21.28636789335279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -310.72890664115755, + -2107.5947043764672, + 21.28636789335279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -309.22890664115755, + -2104.996628165114, + 21.28636789335279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -307.72890664115755, + -2102.398551953761, + 21.28636789335279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -306.22890664115755, + -2099.800475742408, + 21.28636789335279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -304.72890664115755, + -2097.2023995310547, + 21.28636789335279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -303.22890664115755, + -2094.6043233197015, + 21.28636789335279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -301.72890664115755, + -2092.0062471083484, + 21.28636789335279 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -300.22890664115755, + -2089.408170896995, + 21.28636789335279 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965694 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -296.0, + -2064.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_16-0-3_190833023/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_16-0-3_190833023/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..24f635237fc5a36c08421208dcc75a25e94717da --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_16-0-3_190833023/pose.jsonl @@ -0,0 +1,483 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2385.9095026345976, + -1542.7441407089204, + 26.63852951481007 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2382.9095026345976, + -1542.7441407089204, + 26.63852951481007 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2379.9095026345976, + -1542.7441407089204, + 26.63852951481007 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2376.9095026345976, + -1542.7441407089204, + 26.63852951481007 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2373.9095026345976, + -1542.7441407089204, + 26.63852951481007 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2370.9095026345976, + -1542.7441407089204, + 26.63852951481007 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2367.9095026345976, + -1542.7441407089204, + 26.63852951481007 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2364.9095026345976, + -1542.7441407089204, + 26.63852951481007 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2361.9095026345976, + -1542.7441407089204, + 26.63852951481007 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 2358.9095026345976, + -1542.7441407089204, + 26.63852951481007 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2355.9095026345976, + -1542.7441407089204, + 26.63852951481007 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2352.9095026345976, + -1542.7441407089204, + 26.63852951481007 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 2349.9095026345976, + -1542.7441407089204, + 26.63852951481007 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 2346.9095026345976, + -1542.7441407089204, + 26.63852951481007 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 2343.9095026345976, + -1542.7441407089204, + 26.63852951481007 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 2340.9095026345976, + -1542.7441407089204, + 26.63852951481007 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 2337.9095026345976, + -1542.7441407089204, + 26.63852951481007 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 2334.9095026345976, + -1542.7441407089204, + 26.63852951481007 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 2331.9095026345976, + -1542.7441407089204, + 26.63852951481007 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 2328.9095026345976, + -1542.7441407089204, + 26.63852951481007 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 2325.9095026345976, + -1542.7441407089204, + 26.63852951481007 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 2322.9095026345976, + -1542.7441407089204, + 26.63852951481007 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 2319.9095026345976, + -1542.7441407089204, + 26.63852951481007 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 2316.9095026345976, + -1542.7441407089204, + 26.63852951481007 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 2313.9095026345976, + -1542.7441407089204, + 26.63852951481007 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 2310.9095026345976, + -1542.7441407089204, + 26.63852951481007 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 2307.9095026345976, + -1542.7441407089204, + 26.63852951481007 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 2304.9095026345976, + -1542.7441407089204, + 26.63852951481007 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 2301.9095026345976, + -1542.7441407089204, + 26.63852951481007 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 2298.9095026345976, + -1542.7441407089204, + 26.63852951481007 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 2295.9095026345976, + -1542.7441407089204, + 26.63852951481007 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 2292.9095026345976, + -1542.7441407089204, + 26.63852951481007 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 2289.9095026345976, + -1542.7441407089204, + 26.63852951481007 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 2286.9095026345976, + -1542.7441407089204, + 26.63852951481007 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 2283.9095026345976, + -1542.7441407089204, + 26.63852951481007 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 2280.9095026345976, + -1542.7441407089204, + 26.63852951481007 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2216.0, + -1544.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_16-10-41_2137386989/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_16-10-41_2137386989/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..eb4fd311777af5fce17c9550e03c6dfa0edbf48c --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_16-10-41_2137386989/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1405.571543898425, + 1198.0900019583723, + 16.400973646281855 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1408.571543898425, + 1198.0900019583723, + 16.400973646281855 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1411.571543898425, + 1198.0900019583723, + 16.400973646281855 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1414.571543898425, + 1198.0900019583723, + 16.400973646281855 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1417.571543898425, + 1198.0900019583723, + 16.400973646281855 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1417.571543898425, + 1198.0900019583723, + 16.400973646281855 + ], + "type": "turn left", + "value": 30, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1417.571543898425, + 1198.0900019583723, + 16.400973646281855 + ], + "type": "go straight", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1419.071543898425, + 1195.491925747019, + 16.400973646281855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1420.571543898425, + 1192.8938495356656, + 16.400973646281855 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1420.571543898425, + 1192.8938495356656, + 16.400973646281855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1423.1696201097784, + 1191.3938495356656, + 16.400973646281855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1425.7676963211318, + 1189.8938495356656, + 16.400973646281855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1428.3657725324852, + 1188.3938495356656, + 16.400973646281855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1430.9638487438385, + 1186.8938495356656, + 16.400973646281855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1433.561924955192, + 1185.3938495356656, + 16.400973646281855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1436.1600011665453, + 1183.8938495356656, + 16.400973646281855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1438.7580773778986, + 1182.3938495356656, + 16.400973646281855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1441.356153589252, + 1180.8938495356656, + 16.400973646281855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1443.9542298006054, + 1179.3938495356656, + 16.400973646281855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1446.5523060119588, + 1177.8938495356656, + 16.400973646281855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1449.1503822233121, + 1176.3938495356656, + 16.400973646281855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1451.7484584346655, + 1174.8938495356656, + 16.400973646281855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1454.3465346460189, + 1173.3938495356656, + 16.400973646281855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1456.9446108573723, + 1171.8938495356656, + 16.400973646281855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1459.5426870687256, + 1170.3938495356656, + 16.400973646281855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1462.140763280079, + 1168.8938495356656, + 16.400973646281855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1464.7388394914324, + 1167.3938495356656, + 16.400973646281855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1467.3369157027857, + 1165.8938495356656, + 16.400973646281855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1469.9349919141391, + 1164.3938495356656, + 16.400973646281855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1472.5330681254925, + 1162.8938495356656, + 16.400973646281855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1475.1311443368459, + 1161.3938495356656, + 16.400973646281855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1477.7292205481992, + 1159.8938495356656, + 16.400973646281855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1480.3272967595526, + 1158.3938495356656, + 16.400973646281855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1482.925372970906, + 1156.8938495356656, + 16.400973646281855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1485.5234491822594, + 1155.3938495356656, + 16.400973646281855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1488.1215253936127, + 1153.8938495356656, + 16.400973646281855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1490.719601604966, + 1152.3938495356656, + 16.400973646281855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1493.3176778163195, + 1150.8938495356656, + 16.400973646281855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1495.9157540276728, + 1149.3938495356656, + 16.400973646281855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1498.5138302390262, + 1147.8938495356656, + 16.400973646281855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1501.1119064503796, + 1146.3938495356656, + 16.400973646281855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1503.709982661733, + 1144.8938495356656, + 16.400973646281855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1506.3080588730863, + 1143.3938495356656, + 16.400973646281855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1508.9061350844397, + 1141.8938495356656, + 16.400973646281855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1511.504211295793, + 1140.3938495356656, + 16.400973646281855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1514.1022875071465, + 1138.8938495356656, + 16.400973646281855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1516.7003637184998, + 1137.3938495356656, + 16.400973646281855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1519.2984399298532, + 1135.8938495356656, + 16.400973646281855 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1540.0, + 1124.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_16-12-15_2100598388/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_16-12-15_2100598388/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c2be89d4827c898d964337219a1e38e75c252a38 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_16-12-15_2100598388/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1946.049602320865, + 1810.1887526568769, + 33.592377259474546 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1948.6476785322184, + 1808.6887526568769, + 33.592377259474546 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1951.2457547435718, + 1807.1887526568769, + 33.592377259474546 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1953.8438309549251, + 1805.6887526568769, + 33.592377259474546 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1956.4419071662785, + 1804.1887526568769, + 33.592377259474546 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1959.0399833776319, + 1802.6887526568769, + 33.592377259474546 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1961.6380595889852, + 1801.1887526568769, + 33.592377259474546 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1964.2361358003386, + 1799.6887526568769, + 33.592377259474546 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1966.834212011692, + 1798.1887526568769, + 33.592377259474546 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1969.4322882230454, + 1796.6887526568769, + 33.592377259474546 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1972.0303644343987, + 1795.1887526568769, + 33.592377259474546 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1974.628440645752, + 1793.6887526568769, + 33.592377259474546 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1977.2265168571055, + 1792.1887526568769, + 33.592377259474546 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1979.8245930684589, + 1790.6887526568769, + 33.592377259474546 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1982.4226692798122, + 1789.1887526568769, + 33.592377259474546 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1985.0207454911656, + 1787.6887526568769, + 33.592377259474546 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1987.618821702519, + 1786.1887526568769, + 33.592377259474546 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1990.2168979138723, + 1784.6887526568769, + 33.592377259474546 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1992.8149741252257, + 1783.1887526568769, + 33.592377259474546 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1995.413050336579, + 1781.6887526568769, + 33.592377259474546 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1998.0111265479325, + 1780.1887526568769, + 33.592377259474546 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2000.6092027592858, + 1778.6887526568769, + 33.592377259474546 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2003.2072789706392, + 1777.1887526568769, + 33.592377259474546 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2005.8053551819926, + 1775.6887526568769, + 33.592377259474546 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2008.403431393346, + 1774.1887526568769, + 33.592377259474546 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2011.0015076046993, + 1772.6887526568769, + 33.592377259474546 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2013.5995838160527, + 1771.1887526568769, + 33.592377259474546 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2016.197660027406, + 1769.6887526568769, + 33.592377259474546 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2018.7957362387594, + 1768.1887526568769, + 33.592377259474546 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2021.3938124501128, + 1766.6887526568769, + 33.592377259474546 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2023.9918886614662, + 1765.1887526568769, + 33.592377259474546 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2026.5899648728196, + 1763.6887526568769, + 33.592377259474546 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2026.5899648728196, + 1763.6887526568769, + 33.592377259474546 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2029.5899648728196, + 1763.6887526568769, + 33.592377259474546 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2032.5899648728196, + 1763.6887526568769, + 33.592377259474546 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -2035.5899648728196, + 1763.6887526568769, + 33.592377259474546 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -2038.5899648728196, + 1763.6887526568769, + 33.592377259474546 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -2041.5899648728196, + 1763.6887526568769, + 33.592377259474546 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -2044.5899648728196, + 1763.6887526568769, + 33.592377259474546 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -2047.5899648728196, + 1763.6887526568769, + 33.592377259474546 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -2050.5899648728196, + 1763.6887526568769, + 33.592377259474546 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -2053.5899648728196, + 1763.6887526568769, + 33.592377259474546 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -2056.5899648728196, + 1763.6887526568769, + 33.592377259474546 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -2059.5899648728196, + 1763.6887526568769, + 33.592377259474546 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -2062.5899648728196, + 1763.6887526568769, + 33.592377259474546 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -2065.5899648728196, + 1763.6887526568769, + 33.592377259474546 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -2068.5899648728196, + 1763.6887526568769, + 33.592377259474546 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -2071.5899648728196, + 1763.6887526568769, + 33.592377259474546 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -2074.5899648728196, + 1763.6887526568769, + 33.592377259474546 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -2077.5899648728196, + 1763.6887526568769, + 33.592377259474546 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -2080.5899648728196, + 1763.6887526568769, + 33.592377259474546 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -2083.5899648728196, + 1763.6887526568769, + 33.592377259474546 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -2086.5899648728196, + 1763.6887526568769, + 33.592377259474546 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2108.0, + 1756.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_16-17-9_899633766/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_16-17-9_899633766/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d4e6f34879cb1c48896695abdd85b561f11bed1a --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_16-17-9_899633766/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2458.6877431687462, + -2715.282707907971, + 21.006325854633864 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2456.089666957393, + -2716.782707907971, + 21.006325854633864 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2453.49159074604, + -2718.282707907971, + 21.006325854633864 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2450.893514534687, + -2719.782707907971, + 21.006325854633864 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2448.2954383233337, + -2721.282707907971, + 21.006325854633864 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2445.6973621119805, + -2722.782707907971, + 21.006325854633864 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2443.0992859006274, + -2724.282707907971, + 21.006325854633864 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2440.501209689274, + -2725.782707907971, + 21.006325854633864 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2437.903133477921, + -2727.282707907971, + 21.006325854633864 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 2435.305057266568, + -2728.782707907971, + 21.006325854633864 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2432.706981055215, + -2730.282707907971, + 21.006325854633864 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2430.1089048438616, + -2731.782707907971, + 21.006325854633864 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 2427.5108286325085, + -2733.282707907971, + 21.006325854633864 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 2424.9127524211553, + -2734.782707907971, + 21.006325854633864 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 2422.314676209802, + -2736.282707907971, + 21.006325854633864 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 2419.716599998449, + -2737.782707907971, + 21.006325854633864 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 2417.118523787096, + -2739.282707907971, + 21.006325854633864 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 2414.5204475757428, + -2740.782707907971, + 21.006325854633864 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 2411.9223713643896, + -2742.282707907971, + 21.006325854633864 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 2409.3242951530365, + -2743.782707907971, + 21.006325854633864 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 2406.7262189416833, + -2745.282707907971, + 21.006325854633864 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 2404.12814273033, + -2746.782707907971, + 21.006325854633864 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 2401.530066518977, + -2748.282707907971, + 21.006325854633864 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 2398.931990307624, + -2749.782707907971, + 21.006325854633864 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 2396.3339140962707, + -2751.282707907971, + 21.006325854633864 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 2393.7358378849176, + -2752.782707907971, + 21.006325854633864 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 2391.1377616735645, + -2754.282707907971, + 21.006325854633864 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 2388.5396854622113, + -2755.782707907971, + 21.006325854633864 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 2385.941609250858, + -2757.282707907971, + 21.006325854633864 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 2383.343533039505, + -2758.782707907971, + 21.006325854633864 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 2380.745456828152, + -2760.282707907971, + 21.006325854633864 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 2378.1473806167987, + -2761.782707907971, + 21.006325854633864 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 2375.5493044054456, + -2763.282707907971, + 21.006325854633864 + ], + "type": "turn left", + "value": 30, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 2375.5493044054456, + -2763.282707907971, + 21.006325854633864 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931673 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 2374.0493044054456, + -2765.8807841193243, + 21.006325854633864 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 2372.5493044054456, + -2768.4788603306774, + 21.006325854633864 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 2371.0493044054456, + -2771.0769365420306, + 21.006325854633864 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 2369.5493044054456, + -2773.6750127533837, + 21.006325854633864 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 2368.0493044054456, + -2776.273088964737, + 21.006325854633864 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 2366.5493044054456, + -2778.87116517609, + 21.006325854633864 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 2365.0493044054456, + -2781.469241387443, + 21.006325854633864 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 2363.5493044054456, + -2784.0673175987963, + 21.006325854633864 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 2362.0493044054456, + -2786.6653938101495, + 21.006325854633864 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 2362.0493044054456, + -2786.6653938101495, + 21.006325854633864 + ], + "type": "go straight", + "value": 3, + "yaw": -1.570796326794925 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 2362.0493044054456, + -2789.6653938101495, + 21.006325854633864 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 2362.0493044054456, + -2792.6653938101495, + 21.006325854633864 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 2362.0493044054456, + -2795.6653938101495, + 21.006325854633864 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 2362.0493044054456, + -2798.6653938101495, + 21.006325854633864 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 2362.0493044054456, + -2801.6653938101495, + 21.006325854633864 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 2362.0493044054456, + -2804.6653938101495, + 21.006325854633864 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 2362.0493044054456, + -2807.6653938101495, + 21.006325854633864 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 2362.0493044054456, + -2810.6653938101495, + 21.006325854633864 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 2362.0493044054456, + -2813.6653938101495, + 21.006325854633864 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 2362.0493044054456, + -2816.6653938101495, + 21.006325854633864 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 2362.0493044054456, + -2819.6653938101495, + 21.006325854633864 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2340.0, + -2844.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_16-24-35_822304435/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_16-24-35_822304435/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..122c820ee7870cf541653dfcd525595df792dfc9 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_16-24-35_822304435/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 204.28495689361338, + 1604.6434809732054, + 33.85642021559896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 207.28495689361338, + 1604.6434809732054, + 33.85642021559896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 210.28495689361338, + 1604.6434809732054, + 33.85642021559896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 213.28495689361338, + 1604.6434809732054, + 33.85642021559896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 216.28495689361338, + 1604.6434809732054, + 33.85642021559896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 219.28495689361338, + 1604.6434809732054, + 33.85642021559896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 222.28495689361338, + 1604.6434809732054, + 33.85642021559896 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 222.28495689361338, + 1604.6434809732054, + 33.85642021559896 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 222.28495689361338, + 1604.6434809732054, + 33.85642021559896 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 223.78495689361338, + 1607.2415571845588, + 33.85642021559896 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 225.28495689361338, + 1609.8396333959122, + 33.85642021559896 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 226.78495689361338, + 1612.4377096072656, + 33.85642021559896 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 226.78495689361338, + 1612.4377096072656, + 33.85642021559896 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 226.78495689361338, + 1615.4377096072656, + 33.85642021559896 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 226.78495689361338, + 1618.4377096072656, + 33.85642021559896 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 226.78495689361338, + 1621.4377096072656, + 33.85642021559896 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 226.78495689361338, + 1624.4377096072656, + 33.85642021559896 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 226.78495689361338, + 1627.4377096072656, + 33.85642021559896 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 226.78495689361338, + 1630.4377096072656, + 33.85642021559896 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 226.78495689361338, + 1633.4377096072656, + 33.85642021559896 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 226.78495689361338, + 1636.4377096072656, + 33.85642021559896 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 226.78495689361338, + 1639.4377096072656, + 33.85642021559896 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 226.78495689361338, + 1642.4377096072656, + 33.85642021559896 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 226.78495689361338, + 1645.4377096072656, + 33.85642021559896 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 226.78495689361338, + 1648.4377096072656, + 33.85642021559896 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 226.78495689361338, + 1651.4377096072656, + 33.85642021559896 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 226.78495689361338, + 1654.4377096072656, + 33.85642021559896 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 226.78495689361338, + 1657.4377096072656, + 33.85642021559896 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 226.78495689361338, + 1660.4377096072656, + 33.85642021559896 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 226.78495689361338, + 1663.4377096072656, + 33.85642021559896 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 226.78495689361338, + 1666.4377096072656, + 33.85642021559896 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 226.78495689361338, + 1669.4377096072656, + 33.85642021559896 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 226.78495689361338, + 1672.4377096072656, + 33.85642021559896 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 226.78495689361338, + 1675.4377096072656, + 33.85642021559896 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 226.78495689361338, + 1678.4377096072656, + 33.85642021559896 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 226.78495689361338, + 1681.4377096072656, + 33.85642021559896 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 226.78495689361338, + 1684.4377096072656, + 33.85642021559896 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 226.78495689361338, + 1687.4377096072656, + 33.85642021559896 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 226.78495689361338, + 1690.4377096072656, + 33.85642021559896 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 226.78495689361338, + 1693.4377096072656, + 33.85642021559896 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 226.78495689361338, + 1696.4377096072656, + 33.85642021559896 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 226.78495689361338, + 1699.4377096072656, + 33.85642021559896 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 226.78495689361338, + 1702.4377096072656, + 33.85642021559896 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 226.78495689361338, + 1705.4377096072656, + 33.85642021559896 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 226.78495689361338, + 1708.4377096072656, + 33.85642021559896 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 236.0, + 1768.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_16-31-40_1861853489/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_16-31-40_1861853489/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9d1f5375efa603199a56efa7988732d037825e76 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_16-31-40_1861853489/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2982.721668700102, + 1751.319591117485, + 24.249994727465005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2982.721668700102, + 1754.319591117485, + 24.249994727465005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2982.721668700102, + 1757.319591117485, + 24.249994727465005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2982.721668700102, + 1760.319591117485, + 24.249994727465005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2982.721668700102, + 1763.319591117485, + 24.249994727465005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2982.721668700102, + 1766.319591117485, + 24.249994727465005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2982.721668700102, + 1769.319591117485, + 24.249994727465005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2982.721668700102, + 1772.319591117485, + 24.249994727465005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2982.721668700102, + 1775.319591117485, + 24.249994727465005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2982.721668700102, + 1778.319591117485, + 24.249994727465005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2982.721668700102, + 1781.319591117485, + 24.249994727465005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2982.721668700102, + 1784.319591117485, + 24.249994727465005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2982.721668700102, + 1787.319591117485, + 24.249994727465005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2982.721668700102, + 1790.319591117485, + 24.249994727465005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2982.721668700102, + 1793.319591117485, + 24.249994727465005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2982.721668700102, + 1796.319591117485, + 24.249994727465005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2982.721668700102, + 1799.319591117485, + 24.249994727465005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2982.721668700102, + 1802.319591117485, + 24.249994727465005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2982.721668700102, + 1805.319591117485, + 24.249994727465005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2982.721668700102, + 1808.319591117485, + 24.249994727465005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2982.721668700102, + 1811.319591117485, + 24.249994727465005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2982.721668700102, + 1814.319591117485, + 24.249994727465005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2982.721668700102, + 1817.319591117485, + 24.249994727465005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2982.721668700102, + 1820.319591117485, + 24.249994727465005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2982.721668700102, + 1823.319591117485, + 24.249994727465005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2982.721668700102, + 1826.319591117485, + 24.249994727465005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2982.721668700102, + 1829.319591117485, + 24.249994727465005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2982.721668700102, + 1832.319591117485, + 24.249994727465005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2982.721668700102, + 1835.319591117485, + 24.249994727465005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2982.721668700102, + 1838.319591117485, + 24.249994727465005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2982.721668700102, + 1841.319591117485, + 24.249994727465005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2982.721668700102, + 1844.319591117485, + 24.249994727465005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2982.721668700102, + 1847.319591117485, + 24.249994727465005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2982.721668700102, + 1850.319591117485, + 24.249994727465005 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2982.721668700102, + 1850.319591117485, + 24.249994727465005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -2984.221668700102, + 1852.9176673288384, + 24.249994727465005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -2985.721668700102, + 1855.5157435401918, + 24.249994727465005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -2987.221668700102, + 1858.1138197515452, + 24.249994727465005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -2988.721668700102, + 1860.7118959628986, + 24.249994727465005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -2990.221668700102, + 1863.309972174252, + 24.249994727465005 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2992.0, + 1908.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_16-32-3_624486946/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_16-32-3_624486946/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..762515a7ed5d0c1ee5d1e41766d1852061906f6f --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_16-32-3_624486946/pose.jsonl @@ -0,0 +1,470 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 355.9955246280872, + 343.16166785641894, + 29.956278651141016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 358.9955246280872, + 343.16166785641894, + 29.956278651141016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 361.9955246280872, + 343.16166785641894, + 29.956278651141016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 364.9955246280872, + 343.16166785641894, + 29.956278651141016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 367.9955246280872, + 343.16166785641894, + 29.956278651141016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 370.9955246280872, + 343.16166785641894, + 29.956278651141016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 373.9955246280872, + 343.16166785641894, + 29.956278651141016 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 373.9955246280872, + 343.16166785641894, + 29.956278651141016 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 373.9955246280872, + 343.16166785641894, + 29.956278651141016 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 375.4955246280872, + 345.75974406777226, + 29.956278651141016 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 376.9955246280872, + 348.3578202791256, + 29.956278651141016 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 378.4955246280872, + 350.9558964904789, + 29.956278651141016 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 378.4955246280872, + 350.9558964904789, + 29.956278651141016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 381.0936008394405, + 352.4558964904789, + 29.956278651141016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 383.6916770507938, + 353.9558964904789, + 29.956278651141016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 386.28975326214714, + 355.4558964904789, + 29.956278651141016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 388.88782947350046, + 356.9558964904789, + 29.956278651141016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 391.4859056848538, + 358.4558964904789, + 29.956278651141016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 394.0839818962071, + 359.9558964904789, + 29.956278651141016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 396.6820581075604, + 361.4558964904789, + 29.956278651141016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 399.2801343189137, + 362.9558964904789, + 29.956278651141016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 401.87821053026704, + 364.4558964904789, + 29.956278651141016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 404.47628674162036, + 365.9558964904789, + 29.956278651141016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 407.0743629529737, + 367.4558964904789, + 29.956278651141016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 409.672439164327, + 368.9558964904789, + 29.956278651141016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 412.2705153756803, + 370.4558964904789, + 29.956278651141016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 414.8685915870336, + 371.9558964904789, + 29.956278651141016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 417.46666779838694, + 373.4558964904789, + 29.956278651141016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 420.06474400974025, + 374.9558964904789, + 29.956278651141016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 422.66282022109357, + 376.4558964904789, + 29.956278651141016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 425.2608964324469, + 377.9558964904789, + 29.956278651141016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 427.8589726438002, + 379.4558964904789, + 29.956278651141016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 430.4570488551535, + 380.9558964904789, + 29.956278651141016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 433.05512506650683, + 382.4558964904789, + 29.956278651141016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 435.65320127786015, + 383.9558964904789, + 29.956278651141016 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 492.0, + 408.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_16-33-12_431787582/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_16-33-12_431787582/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..be041e180412d95b7e610e85ad7bc0efc577ec0c --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_16-33-12_431787582/pose.jsonl @@ -0,0 +1,405 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2611.06339434263, + 2485.331148537673, + 15.190178109453578 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2612.56339434263, + 2482.73307232632, + 15.190178109453578 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2614.06339434263, + 2480.1349961149667, + 15.190178109453578 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2615.56339434263, + 2477.5369199036136, + 15.190178109453578 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2617.06339434263, + 2474.9388436922604, + 15.190178109453578 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2618.56339434263, + 2472.3407674809073, + 15.190178109453578 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2620.06339434263, + 2469.742691269554, + 15.190178109453578 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2621.56339434263, + 2467.144615058201, + 15.190178109453578 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2623.06339434263, + 2464.546538846848, + 15.190178109453578 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 2624.56339434263, + 2461.9484626354947, + 15.190178109453578 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2626.06339434263, + 2459.3503864241416, + 15.190178109453578 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2627.56339434263, + 2456.7523102127884, + 15.190178109453578 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 2629.06339434263, + 2454.1542340014353, + 15.190178109453578 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 2630.56339434263, + 2451.556157790082, + 15.190178109453578 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 2632.06339434263, + 2448.958081578729, + 15.190178109453578 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 2633.56339434263, + 2446.360005367376, + 15.190178109453578 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 2635.06339434263, + 2443.7619291560227, + 15.190178109453578 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 2636.56339434263, + 2441.1638529446695, + 15.190178109453578 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 2638.06339434263, + 2438.5657767333164, + 15.190178109453578 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 2639.56339434263, + 2435.9677005219633, + 15.190178109453578 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 2641.06339434263, + 2433.36962431061, + 15.190178109453578 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 2642.56339434263, + 2430.771548099257, + 15.190178109453578 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 2644.06339434263, + 2428.173471887904, + 15.190178109453578 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 2645.56339434263, + 2425.5753956765507, + 15.190178109453578 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 2647.06339434263, + 2422.9773194651975, + 15.190178109453578 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 2648.56339434263, + 2420.3792432538444, + 15.190178109453578 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 2650.06339434263, + 2417.7811670424912, + 15.190178109453578 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 2651.56339434263, + 2415.183090831138, + 15.190178109453578 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 2653.06339434263, + 2412.585014619785, + 15.190178109453578 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 2654.56339434263, + 2409.986938408432, + 15.190178109453578 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965694 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2688.0, + 2352.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_16-35-41_466747319/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_16-35-41_466747319/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..53894de4da1c0605204c08b45a849db9e4f1fade --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_16-35-41_466747319/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2244.551060861178, + 1524.4404878833489, + 17.954808485630377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2241.551060861178, + 1524.4404878833489, + 17.954808485630377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2238.551060861178, + 1524.4404878833489, + 17.954808485630377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2235.551060861178, + 1524.4404878833489, + 17.954808485630377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2232.551060861178, + 1524.4404878833489, + 17.954808485630377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2229.551060861178, + 1524.4404878833489, + 17.954808485630377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2226.551060861178, + 1524.4404878833489, + 17.954808485630377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2223.551060861178, + 1524.4404878833489, + 17.954808485630377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2220.551060861178, + 1524.4404878833489, + 17.954808485630377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2217.551060861178, + 1524.4404878833489, + 17.954808485630377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2214.551060861178, + 1524.4404878833489, + 17.954808485630377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2211.551060861178, + 1524.4404878833489, + 17.954808485630377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2208.551060861178, + 1524.4404878833489, + 17.954808485630377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2205.551060861178, + 1524.4404878833489, + 17.954808485630377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2202.551060861178, + 1524.4404878833489, + 17.954808485630377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2199.551060861178, + 1524.4404878833489, + 17.954808485630377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2196.551060861178, + 1524.4404878833489, + 17.954808485630377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2193.551060861178, + 1524.4404878833489, + 17.954808485630377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2190.551060861178, + 1524.4404878833489, + 17.954808485630377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2187.551060861178, + 1524.4404878833489, + 17.954808485630377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2184.551060861178, + 1524.4404878833489, + 17.954808485630377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2181.551060861178, + 1524.4404878833489, + 17.954808485630377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2178.551060861178, + 1524.4404878833489, + 17.954808485630377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2175.551060861178, + 1524.4404878833489, + 17.954808485630377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2172.551060861178, + 1524.4404878833489, + 17.954808485630377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2169.551060861178, + 1524.4404878833489, + 17.954808485630377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2166.551060861178, + 1524.4404878833489, + 17.954808485630377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2163.551060861178, + 1524.4404878833489, + 17.954808485630377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2160.551060861178, + 1524.4404878833489, + 17.954808485630377 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2160.551060861178, + 1524.4404878833489, + 17.954808485630377 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2157.952984649825, + 1522.9404878833489, + 17.954808485630377 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2155.3549084384717, + 1521.4404878833489, + 17.954808485630377 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2152.7568322271186, + 1519.9404878833489, + 17.954808485630377 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2150.1587560157654, + 1518.4404878833489, + 17.954808485630377 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2147.5606798044123, + 1516.9404878833489, + 17.954808485630377 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -2144.962603593059, + 1515.4404878833489, + 17.954808485630377 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -2142.364527381706, + 1513.9404878833489, + 17.954808485630377 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -2139.766451170353, + 1512.4404878833489, + 17.954808485630377 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -2137.1683749589997, + 1510.9404878833489, + 17.954808485630377 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -2134.5702987476466, + 1509.4404878833489, + 17.954808485630377 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -2131.9722225362934, + 1507.9404878833489, + 17.954808485630377 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -2129.3741463249403, + 1506.4404878833489, + 17.954808485630377 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -2126.776070113587, + 1504.9404878833489, + 17.954808485630377 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -2124.177993902234, + 1503.4404878833489, + 17.954808485630377 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -2121.579917690881, + 1501.9404878833489, + 17.954808485630377 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -2118.9818414795277, + 1500.4404878833489, + 17.954808485630377 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -2118.9818414795277, + 1500.4404878833489, + 17.954808485630377 + ], + "type": "go straight", + "value": 3, + "yaw": -2.842170943040401e-14 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -2115.9818414795277, + 1500.4404878833489, + 17.954808485630377 + ], + "type": "stop", + "value": 0, + "yaw": -2.842170943040401e-14 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2072.0, + 1492.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_16-40-54_1426608253/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_16-40-54_1426608253/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7aa96ca94eb932bc7ef2e604497bca5daa73f1bd --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_16-40-54_1426608253/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1957.8480280983556, + 1307.758206955791, + 17.681835572453938 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1959.3480280983556, + 1310.3562831671443, + 17.681835572453938 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1959.3480280983556, + 1310.3562831671443, + 17.681835572453938 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1961.946104309709, + 1311.8562831671443, + 17.681835572453938 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1964.5441805210623, + 1313.3562831671443, + 17.681835572453938 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1967.1422567324157, + 1314.8562831671443, + 17.681835572453938 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1969.740332943769, + 1316.3562831671443, + 17.681835572453938 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1972.3384091551225, + 1317.8562831671443, + 17.681835572453938 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1974.9364853664758, + 1319.3562831671443, + 17.681835572453938 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1977.5345615778292, + 1320.8562831671443, + 17.681835572453938 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1980.1326377891826, + 1322.3562831671443, + 17.681835572453938 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1982.730714000536, + 1323.8562831671443, + 17.681835572453938 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1985.3287902118893, + 1325.3562831671443, + 17.681835572453938 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1987.9268664232427, + 1326.8562831671443, + 17.681835572453938 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1990.524942634596, + 1328.3562831671443, + 17.681835572453938 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1993.1230188459494, + 1329.8562831671443, + 17.681835572453938 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1995.7210950573028, + 1331.3562831671443, + 17.681835572453938 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1998.3191712686562, + 1332.8562831671443, + 17.681835572453938 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2000.9172474800096, + 1334.3562831671443, + 17.681835572453938 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2003.515323691363, + 1335.8562831671443, + 17.681835572453938 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2006.1133999027163, + 1337.3562831671443, + 17.681835572453938 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2008.7114761140697, + 1338.8562831671443, + 17.681835572453938 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2011.309552325423, + 1340.3562831671443, + 17.681835572453938 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2013.9076285367764, + 1341.8562831671443, + 17.681835572453938 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2016.5057047481298, + 1343.3562831671443, + 17.681835572453938 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2019.1037809594832, + 1344.8562831671443, + 17.681835572453938 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2021.7018571708365, + 1346.3562831671443, + 17.681835572453938 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2024.29993338219, + 1347.8562831671443, + 17.681835572453938 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2026.8980095935433, + 1349.3562831671443, + 17.681835572453938 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2029.4960858048967, + 1350.8562831671443, + 17.681835572453938 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2032.09416201625, + 1352.3562831671443, + 17.681835572453938 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2034.6922382276034, + 1353.8562831671443, + 17.681835572453938 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2037.2903144389568, + 1355.3562831671443, + 17.681835572453938 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2039.8883906503102, + 1356.8562831671443, + 17.681835572453938 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2042.4864668616635, + 1358.3562831671443, + 17.681835572453938 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -2045.084543073017, + 1359.8562831671443, + 17.681835572453938 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -2047.6826192843703, + 1361.3562831671443, + 17.681835572453938 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -2050.2806954957236, + 1362.8562831671443, + 17.681835572453938 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -2052.878771707077, + 1364.3562831671443, + 17.681835572453938 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -2055.47684791843, + 1365.8562831671443, + 17.681835572453938 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -2058.074924129783, + 1367.3562831671443, + 17.681835572453938 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -2060.6730003411362, + 1368.8562831671443, + 17.681835572453938 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -2063.2710765524894, + 1370.3562831671443, + 17.681835572453938 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -2065.8691527638425, + 1371.8562831671443, + 17.681835572453938 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -2068.4672289751957, + 1373.3562831671443, + 17.681835572453938 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -2071.065305186549, + 1374.8562831671443, + 17.681835572453938 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -2073.663381397902, + 1376.3562831671443, + 17.681835572453938 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -2076.261457609255, + 1377.8562831671443, + 17.681835572453938 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -2078.8595338206082, + 1379.3562831671443, + 17.681835572453938 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -2081.4576100319614, + 1380.8562831671443, + 17.681835572453938 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -2084.0556862433145, + 1382.3562831671443, + 17.681835572453938 + ], + "type": "stop", + "value": 0, + "yaw": 2.617993877991466 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2104.0, + 1396.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_16-41-58_1036215463/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_16-41-58_1036215463/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d9e44f3855437c2f30c6d3255b37733e448ec65c --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_16-41-58_1036215463/pose.jsonl @@ -0,0 +1,743 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 703.4306751733616, + -564.2141029488282, + 34.99318590079652 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 703.4306751733616, + -561.2141029488282, + 34.99318590079652 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 703.4306751733616, + -558.2141029488282, + 34.99318590079652 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 703.4306751733616, + -555.2141029488282, + 34.99318590079652 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 703.4306751733616, + -552.2141029488282, + 34.99318590079652 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 703.4306751733616, + -549.2141029488282, + 34.99318590079652 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 703.4306751733616, + -546.2141029488282, + 34.99318590079652 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 703.4306751733616, + -543.2141029488282, + 34.99318590079652 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 703.4306751733616, + -540.2141029488282, + 34.99318590079652 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 703.4306751733616, + -537.2141029488282, + 34.99318590079652 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 703.4306751733616, + -534.2141029488282, + 34.99318590079652 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 703.4306751733616, + -531.2141029488282, + 34.99318590079652 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 703.4306751733616, + -528.2141029488282, + 34.99318590079652 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 703.4306751733616, + -525.2141029488282, + 34.99318590079652 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 703.4306751733616, + -522.2141029488282, + 34.99318590079652 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 703.4306751733616, + -519.2141029488282, + 34.99318590079652 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 703.4306751733616, + -519.2141029488282, + 34.99318590079652 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 701.9306751733616, + -516.6160267374748, + 34.99318590079652 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 701.9306751733616, + -516.6160267374748, + 34.99318590079652 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 699.3325989620082, + -515.1160267374748, + 34.99318590079652 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 696.7345227506548, + -513.6160267374748, + 34.99318590079652 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 694.1364465393015, + -512.1160267374748, + 34.99318590079652 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 691.5383703279481, + -510.61602673747484, + 34.99318590079652 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 688.9402941165947, + -509.11602673747484, + 34.99318590079652 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 686.3422179052413, + -507.61602673747484, + 34.99318590079652 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 686.3422179052413, + -507.61602673747484, + 34.99318590079652 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 684.8422179052413, + -505.0179505261215, + 34.99318590079652 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 683.3422179052413, + -502.4198743147682, + 34.99318590079652 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 681.8422179052413, + -499.8217981034149, + 34.99318590079652 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 680.3422179052413, + -497.2237218920616, + 34.99318590079652 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 678.8422179052413, + -494.62564568070826, + 34.99318590079652 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 677.3422179052413, + -492.02756946935494, + 34.99318590079652 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 675.8422179052413, + -489.4294932580016, + 34.99318590079652 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 674.3422179052413, + -486.8314170466483, + 34.99318590079652 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 672.8422179052413, + -484.233340835295, + 34.99318590079652 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 671.3422179052413, + -481.6352646239417, + 34.99318590079652 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 669.8422179052413, + -479.03718841258836, + 34.99318590079652 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 668.3422179052413, + -476.43911220123505, + 34.99318590079652 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 666.8422179052413, + -473.84103598988173, + 34.99318590079652 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 665.3422179052413, + -471.2429597785284, + 34.99318590079652 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 663.8422179052413, + -468.6448835671751, + 34.99318590079652 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 662.3422179052413, + -466.0468073558218, + 34.99318590079652 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 660.8422179052413, + -463.44873114446847, + 34.99318590079652 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 660.8422179052413, + -463.44873114446847, + 34.99318590079652 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 660.8422179052413, + -463.44873114446847, + 34.99318590079652 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 657.8422179052413, + -463.44873114446847, + 34.99318590079652 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 657.8422179052413, + -463.44873114446847, + 34.99318590079652 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 657.8422179052413, + -463.44873114446847, + 34.99318590079652 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 657.8422179052413, + -463.44873114446847, + 34.99318590079652 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 657.8422179052413, + -460.44873114446847, + 34.99318590079652 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 657.8422179052413, + -457.44873114446847, + 34.99318590079652 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 657.8422179052413, + -454.44873114446847, + 34.99318590079652 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 657.8422179052413, + -451.44873114446847, + 34.99318590079652 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 657.8422179052413, + -448.44873114446847, + 34.99318590079652 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 657.8422179052413, + -445.44873114446847, + 34.99318590079652 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 657.8422179052413, + -442.44873114446847, + 34.99318590079652 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 652.0, + -420.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_16-49-25_1206674446/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_16-49-25_1206674446/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3d866b05bfd2cf2eabd581e4760cfb0027c8feeb --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_16-49-25_1206674446/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1958.465818486497, + 2251.021105031606, + 21.392629244883587 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1959.965818486497, + 2248.423028820253, + 21.392629244883587 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1961.465818486497, + 2245.8249526089, + 21.392629244883587 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1962.965818486497, + 2243.2268763975467, + 21.392629244883587 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1964.465818486497, + 2240.6288001861935, + 21.392629244883587 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1965.965818486497, + 2238.0307239748404, + 21.392629244883587 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1967.465818486497, + 2235.4326477634872, + 21.392629244883587 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1968.965818486497, + 2232.834571552134, + 21.392629244883587 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1970.465818486497, + 2230.236495340781, + 21.392629244883587 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1971.965818486497, + 2227.638419129428, + 21.392629244883587 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1973.465818486497, + 2225.0403429180747, + 21.392629244883587 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1974.965818486497, + 2222.4422667067215, + 21.392629244883587 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1976.465818486497, + 2219.8441904953684, + 21.392629244883587 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1977.965818486497, + 2217.246114284015, + 21.392629244883587 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1979.465818486497, + 2214.648038072662, + 21.392629244883587 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1980.965818486497, + 2212.049961861309, + 21.392629244883587 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1982.465818486497, + 2209.451885649956, + 21.392629244883587 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1983.965818486497, + 2206.8538094386026, + 21.392629244883587 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1985.465818486497, + 2204.2557332272495, + 21.392629244883587 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1986.965818486497, + 2201.6576570158963, + 21.392629244883587 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1988.465818486497, + 2199.059580804543, + 21.392629244883587 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1989.965818486497, + 2196.46150459319, + 21.392629244883587 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1989.965818486497, + 2196.46150459319, + 21.392629244883587 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915224 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1992.5638946978504, + 2194.96150459319, + 21.392629244883587 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1995.1619709092038, + 2193.46150459319, + 21.392629244883587 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1997.7600471205571, + 2191.96150459319, + 21.392629244883587 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2000.3581233319105, + 2190.46150459319, + 21.392629244883587 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2002.956199543264, + 2188.96150459319, + 21.392629244883587 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2005.5542757546173, + 2187.46150459319, + 21.392629244883587 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2008.1523519659706, + 2185.96150459319, + 21.392629244883587 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2010.750428177324, + 2184.46150459319, + 21.392629244883587 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2013.3485043886774, + 2182.96150459319, + 21.392629244883587 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2015.9465806000308, + 2181.46150459319, + 21.392629244883587 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2018.5446568113841, + 2179.96150459319, + 21.392629244883587 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2021.1427330227375, + 2178.46150459319, + 21.392629244883587 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -2023.7408092340909, + 2176.96150459319, + 21.392629244883587 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -2026.3388854454442, + 2175.46150459319, + 21.392629244883587 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -2028.9369616567976, + 2173.96150459319, + 21.392629244883587 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -2031.535037868151, + 2172.46150459319, + 21.392629244883587 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -2034.1331140795044, + 2170.96150459319, + 21.392629244883587 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -2036.7311902908577, + 2169.46150459319, + 21.392629244883587 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -2039.329266502211, + 2167.96150459319, + 21.392629244883587 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -2041.9273427135645, + 2166.46150459319, + 21.392629244883587 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -2044.5254189249179, + 2164.96150459319, + 21.392629244883587 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -2047.1234951362712, + 2163.46150459319, + 21.392629244883587 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2068.0, + 2140.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_16-53-54_1127167744/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_16-53-54_1127167744/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e15131b0a68c757ef8675b5e284abfc300221257 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_16-53-54_1127167744/pose.jsonl @@ -0,0 +1,574 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1612.2786032726078, + -2239.2241888439594, + 31.906670303385244 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1614.8766794839612, + -2237.7241888439594, + 31.906670303385244 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1617.4747556953146, + -2236.2241888439594, + 31.906670303385244 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1620.072831906668, + -2234.7241888439594, + 31.906670303385244 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1622.6709081180213, + -2233.2241888439594, + 31.906670303385244 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1625.2689843293747, + -2231.7241888439594, + 31.906670303385244 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1627.867060540728, + -2230.2241888439594, + 31.906670303385244 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1630.4651367520814, + -2228.7241888439594, + 31.906670303385244 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1633.0632129634348, + -2227.2241888439594, + 31.906670303385244 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1635.6612891747882, + -2225.7241888439594, + 31.906670303385244 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1638.2593653861416, + -2224.2241888439594, + 31.906670303385244 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1640.857441597495, + -2222.7241888439594, + 31.906670303385244 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1643.4555178088483, + -2221.2241888439594, + 31.906670303385244 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1646.0535940202017, + -2219.7241888439594, + 31.906670303385244 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1648.651670231555, + -2218.2241888439594, + 31.906670303385244 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1651.2497464429084, + -2216.7241888439594, + 31.906670303385244 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1653.8478226542618, + -2215.2241888439594, + 31.906670303385244 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1656.4458988656152, + -2213.7241888439594, + 31.906670303385244 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1659.0439750769685, + -2212.2241888439594, + 31.906670303385244 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1661.642051288322, + -2210.7241888439594, + 31.906670303385244 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1664.2401274996753, + -2209.2241888439594, + 31.906670303385244 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1666.8382037110287, + -2207.7241888439594, + 31.906670303385244 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1669.436279922382, + -2206.2241888439594, + 31.906670303385244 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1672.0343561337354, + -2204.7241888439594, + 31.906670303385244 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1674.6324323450888, + -2203.2241888439594, + 31.906670303385244 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1677.2305085564421, + -2201.7241888439594, + 31.906670303385244 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1679.8285847677955, + -2200.2241888439594, + 31.906670303385244 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1682.426660979149, + -2198.7241888439594, + 31.906670303385244 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1685.0247371905023, + -2197.2241888439594, + 31.906670303385244 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1687.6228134018556, + -2195.7241888439594, + 31.906670303385244 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1690.220889613209, + -2194.2241888439594, + 31.906670303385244 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1692.8189658245624, + -2192.7241888439594, + 31.906670303385244 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1692.8189658245624, + -2192.7241888439594, + 31.906670303385244 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1694.3189658245624, + -2190.1261126326062, + 31.906670303385244 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1695.8189658245624, + -2187.528036421253, + 31.906670303385244 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1697.3189658245624, + -2184.9299602099, + 31.906670303385244 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1698.8189658245624, + -2182.331883998547, + 31.906670303385244 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1700.3189658245624, + -2179.7338077871937, + 31.906670303385244 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1701.8189658245624, + -2177.1357315758405, + 31.906670303385244 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1703.3189658245624, + -2174.5376553644874, + 31.906670303385244 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1704.8189658245624, + -2171.939579153134, + 31.906670303385244 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1706.3189658245624, + -2169.341502941781, + 31.906670303385244 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1707.8189658245624, + -2166.743426730428, + 31.906670303385244 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023932237 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1740.0, + -2144.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_16-55-11_589130772/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_16-55-11_589130772/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..af32492351d8d050444ea088cd15f3555c741435 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_16-55-11_589130772/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4124.117454500526, + 1359.1803726185428, + 36.92393404323594 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4126.715530711879, + 1360.6803726185428, + 36.92393404323594 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4129.313606923232, + 1362.1803726185428, + 36.92393404323594 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4131.9116831345855, + 1363.6803726185428, + 36.92393404323594 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4134.509759345939, + 1365.1803726185428, + 36.92393404323594 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4137.107835557292, + 1366.6803726185428, + 36.92393404323594 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4139.705911768645, + 1368.1803726185428, + 36.92393404323594 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4142.303987979998, + 1369.6803726185428, + 36.92393404323594 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4144.902064191351, + 1371.1803726185428, + 36.92393404323594 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4147.500140402704, + 1372.6803726185428, + 36.92393404323594 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4150.0982166140575, + 1374.1803726185428, + 36.92393404323594 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4152.696292825411, + 1375.6803726185428, + 36.92393404323594 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4155.294369036764, + 1377.1803726185428, + 36.92393404323594 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4157.892445248117, + 1378.6803726185428, + 36.92393404323594 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4160.49052145947, + 1380.1803726185428, + 36.92393404323594 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4163.088597670823, + 1381.6803726185428, + 36.92393404323594 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 4165.686673882176, + 1383.1803726185428, + 36.92393404323594 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 4168.2847500935295, + 1384.6803726185428, + 36.92393404323594 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 4170.882826304883, + 1386.1803726185428, + 36.92393404323594 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 4173.480902516236, + 1387.6803726185428, + 36.92393404323594 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 4176.078978727589, + 1389.1803726185428, + 36.92393404323594 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 4178.677054938942, + 1390.6803726185428, + 36.92393404323594 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 4181.275131150295, + 1392.1803726185428, + 36.92393404323594 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 4183.873207361648, + 1393.6803726185428, + 36.92393404323594 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 4186.4712835730015, + 1395.1803726185428, + 36.92393404323594 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 4186.4712835730015, + 1395.1803726185428, + 36.92393404323594 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196626 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 4187.9712835730015, + 1397.7784488298962, + 36.92393404323594 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 4189.4712835730015, + 1400.3765250412496, + 36.92393404323594 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 4190.9712835730015, + 1402.974601252603, + 36.92393404323594 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 4192.4712835730015, + 1405.5726774639563, + 36.92393404323594 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 4193.9712835730015, + 1408.1707536753097, + 36.92393404323594 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 4195.4712835730015, + 1410.768829886663, + 36.92393404323594 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 4196.9712835730015, + 1413.3669060980164, + 36.92393404323594 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 4198.4712835730015, + 1415.9649823093698, + 36.92393404323594 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 4199.9712835730015, + 1418.5630585207232, + 36.92393404323594 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 4201.4712835730015, + 1421.1611347320766, + 36.92393404323594 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 4202.9712835730015, + 1423.75921094343, + 36.92393404323594 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 4204.4712835730015, + 1426.3572871547833, + 36.92393404323594 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 4205.9712835730015, + 1428.9553633661367, + 36.92393404323594 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 4207.4712835730015, + 1431.55343957749, + 36.92393404323594 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 4208.9712835730015, + 1434.1515157888434, + 36.92393404323594 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 4210.4712835730015, + 1436.7495920001968, + 36.92393404323594 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 4211.9712835730015, + 1439.3476682115502, + 36.92393404323594 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 4213.4712835730015, + 1441.9457444229035, + 36.92393404323594 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 4214.9712835730015, + 1444.543820634257, + 36.92393404323594 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 4216.4712835730015, + 1447.1418968456103, + 36.92393404323594 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 4217.9712835730015, + 1449.7399730569637, + 36.92393404323594 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 4219.4712835730015, + 1452.338049268317, + 36.92393404323594 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 4220.9712835730015, + 1454.9361254796704, + 36.92393404323594 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4240.0, + 1472.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_16-55-37_286983804/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_16-55-37_286983804/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dd5a811491625172f11bb302f5092ee68005f496 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_16-55-37_286983804/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1989.7617592238794, + 673.1943510077688, + 17.17423400693057 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1987.163683012526, + 671.6943510077688, + 17.17423400693057 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1984.5656068011726, + 670.1943510077688, + 17.17423400693057 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1981.9675305898193, + 668.6943510077688, + 17.17423400693057 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1979.369454378466, + 667.1943510077688, + 17.17423400693057 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1976.7713781671125, + 665.6943510077688, + 17.17423400693057 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1974.1733019557591, + 664.1943510077688, + 17.17423400693057 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1971.5752257444058, + 662.6943510077688, + 17.17423400693057 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1968.9771495330524, + 661.1943510077688, + 17.17423400693057 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1966.379073321699, + 659.6943510077688, + 17.17423400693057 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1963.7809971103457, + 658.1943510077688, + 17.17423400693057 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1961.1829208989923, + 656.6943510077688, + 17.17423400693057 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1958.584844687639, + 655.1943510077688, + 17.17423400693057 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1955.9867684762855, + 653.6943510077688, + 17.17423400693057 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1953.3886922649322, + 652.1943510077688, + 17.17423400693057 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1950.7906160535788, + 650.6943510077688, + 17.17423400693057 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1948.1925398422254, + 649.1943510077688, + 17.17423400693057 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1945.594463630872, + 647.6943510077688, + 17.17423400693057 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1942.9963874195187, + 646.1943510077688, + 17.17423400693057 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1940.3983112081653, + 644.6943510077688, + 17.17423400693057 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1937.800234996812, + 643.1943510077688, + 17.17423400693057 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1935.2021587854586, + 641.6943510077688, + 17.17423400693057 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1932.6040825741052, + 640.1943510077688, + 17.17423400693057 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1930.0060063627518, + 638.6943510077688, + 17.17423400693057 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1927.4079301513984, + 637.1943510077688, + 17.17423400693057 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1924.809853940045, + 635.6943510077688, + 17.17423400693057 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1922.2117777286917, + 634.1943510077688, + 17.17423400693057 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1919.6137015173383, + 632.6943510077688, + 17.17423400693057 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1917.015625305985, + 631.1943510077688, + 17.17423400693057 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1914.4175490946316, + 629.6943510077688, + 17.17423400693057 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1911.8194728832782, + 628.1943510077688, + 17.17423400693057 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1909.2213966719248, + 626.6943510077688, + 17.17423400693057 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1906.6233204605714, + 625.1943510077688, + 17.17423400693057 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1904.025244249218, + 623.6943510077688, + 17.17423400693057 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1901.4271680378647, + 622.1943510077688, + 17.17423400693057 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1898.8290918265113, + 620.6943510077688, + 17.17423400693057 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1896.231015615158, + 619.1943510077688, + 17.17423400693057 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1896.231015615158, + 619.1943510077688, + 17.17423400693057 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1894.731015615158, + 616.5962747964154, + 17.17423400693057 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1893.231015615158, + 613.998198585062, + 17.17423400693057 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1891.731015615158, + 611.4001223737087, + 17.17423400693057 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1890.231015615158, + 608.8020461623553, + 17.17423400693057 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1888.731015615158, + 606.2039699510019, + 17.17423400693057 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1887.231015615158, + 603.6058937396485, + 17.17423400693057 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1885.731015615158, + 601.0078175282952, + 17.17423400693057 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1884.231015615158, + 598.4097413169418, + 17.17423400693057 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1868.0, + 584.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_16-58-38_987059619/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_16-58-38_987059619/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4093cfb180edb3d31ac646ef06f11fd9dd0a5311 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_16-58-38_987059619/pose.jsonl @@ -0,0 +1,782 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2446.4461629605703, + -2374.1849420166855, + 32.57961717926731 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2447.9461629605703, + -2376.7830182280386, + 32.57961717926731 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2449.4461629605703, + -2379.3810944393917, + 32.57961717926731 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2450.9461629605703, + -2381.979170650745, + 32.57961717926731 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2452.4461629605703, + -2384.577246862098, + 32.57961717926731 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2453.9461629605703, + -2387.175323073451, + 32.57961717926731 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2455.4461629605703, + -2389.7733992848043, + 32.57961717926731 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2456.9461629605703, + -2392.3714754961575, + 32.57961717926731 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2458.4461629605703, + -2394.9695517075106, + 32.57961717926731 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2459.9461629605703, + -2397.5676279188638, + 32.57961717926731 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2459.9461629605703, + -2397.5676279188638, + 32.57961717926731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.570796326794925 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2459.9461629605703, + -2400.5676279188638, + 32.57961717926731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2459.9461629605703, + -2403.5676279188638, + 32.57961717926731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2459.9461629605703, + -2406.5676279188638, + 32.57961717926731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2459.9461629605703, + -2409.5676279188638, + 32.57961717926731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2459.9461629605703, + -2412.5676279188638, + 32.57961717926731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2459.9461629605703, + -2415.5676279188638, + 32.57961717926731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2459.9461629605703, + -2418.5676279188638, + 32.57961717926731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2459.9461629605703, + -2421.5676279188638, + 32.57961717926731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2459.9461629605703, + -2424.5676279188638, + 32.57961717926731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2459.9461629605703, + -2427.5676279188638, + 32.57961717926731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2459.9461629605703, + -2430.5676279188638, + 32.57961717926731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2459.9461629605703, + -2433.5676279188638, + 32.57961717926731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2459.9461629605703, + -2436.5676279188638, + 32.57961717926731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2459.9461629605703, + -2439.5676279188638, + 32.57961717926731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2459.9461629605703, + -2442.5676279188638, + 32.57961717926731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2459.9461629605703, + -2445.5676279188638, + 32.57961717926731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2459.9461629605703, + -2448.5676279188638, + 32.57961717926731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2459.9461629605703, + -2451.5676279188638, + 32.57961717926731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2459.9461629605703, + -2454.5676279188638, + 32.57961717926731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2459.9461629605703, + -2457.5676279188638, + 32.57961717926731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2459.9461629605703, + -2460.5676279188638, + 32.57961717926731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2459.9461629605703, + -2463.5676279188638, + 32.57961717926731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2459.9461629605703, + -2466.5676279188638, + 32.57961717926731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2459.9461629605703, + -2469.5676279188638, + 32.57961717926731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -2459.9461629605703, + -2472.5676279188638, + 32.57961717926731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -2459.9461629605703, + -2475.5676279188638, + 32.57961717926731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -2459.9461629605703, + -2478.5676279188638, + 32.57961717926731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -2459.9461629605703, + -2481.5676279188638, + 32.57961717926731 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -2459.9461629605703, + -2481.5676279188638, + 32.57961717926731 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -2459.9461629605703, + -2481.5676279188638, + 32.57961717926731 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -2462.5442391719234, + -2483.0676279188638, + 32.57961717926731 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -2465.1423153832766, + -2484.5676279188638, + 32.57961717926731 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -2467.7403915946297, + -2486.0676279188638, + 32.57961717926731 + ], + "type": "turn left", + "value": 30, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -2467.7403915946297, + -2486.0676279188638, + 32.57961717926731 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931673 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -2469.2403915946297, + -2488.665704130217, + 32.57961717926731 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -2470.7403915946297, + -2491.26378034157, + 32.57961717926731 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -2472.2403915946297, + -2493.861856552923, + 32.57961717926731 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -2473.7403915946297, + -2496.4599327642763, + 32.57961717926731 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -2475.2403915946297, + -2499.0580089756295, + 32.57961717926731 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -2476.7403915946297, + -2501.6560851869826, + 32.57961717926731 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -2478.2403915946297, + -2504.254161398336, + 32.57961717926731 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -2479.7403915946297, + -2506.852237609689, + 32.57961717926731 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -2481.2403915946297, + -2509.450313821042, + 32.57961717926731 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -2482.7403915946297, + -2512.048390032395, + 32.57961717926731 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -2484.2403915946297, + -2514.6464662437484, + 32.57961717926731 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -2485.7403915946297, + -2517.2445424551015, + 32.57961717926731 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -2487.2403915946297, + -2519.8426186664547, + 32.57961717926731 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -2488.7403915946297, + -2522.440694877808, + 32.57961717926731 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023932237 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2492.0, + -2540.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_16-8-2_669161002/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_16-8-2_669161002/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..73e39c26bf149e82ca382efa0b024420da9a6740 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_16-8-2_669161002/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2344.6237302410345, + 649.6654501049734, + 39.89199908913369 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2347.6237302410345, + 649.6654501049734, + 39.89199908913369 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2347.6237302410345, + 649.6654501049734, + 39.89199908913369 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2347.6237302410345, + 649.6654501049734, + 39.89199908913369 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2349.1237302410345, + 652.2635263163268, + 39.89199908913369 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2350.6237302410345, + 654.8616025276801, + 39.89199908913369 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2352.1237302410345, + 657.4596787390335, + 39.89199908913369 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2353.6237302410345, + 660.0577549503869, + 39.89199908913369 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2355.1237302410345, + 662.6558311617403, + 39.89199908913369 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 2356.6237302410345, + 665.2539073730936, + 39.89199908913369 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2358.1237302410345, + 667.851983584447, + 39.89199908913369 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2359.6237302410345, + 670.4500597958004, + 39.89199908913369 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 2361.1237302410345, + 673.0481360071537, + 39.89199908913369 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 2362.6237302410345, + 675.6462122185071, + 39.89199908913369 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 2364.1237302410345, + 678.2442884298605, + 39.89199908913369 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 2365.6237302410345, + 680.8423646412139, + 39.89199908913369 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 2367.1237302410345, + 683.4404408525672, + 39.89199908913369 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 2368.6237302410345, + 686.0385170639206, + 39.89199908913369 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 2370.1237302410345, + 688.636593275274, + 39.89199908913369 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 2371.6237302410345, + 691.2346694866274, + 39.89199908913369 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 2373.1237302410345, + 693.8327456979807, + 39.89199908913369 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 2374.6237302410345, + 696.4308219093341, + 39.89199908913369 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 2376.1237302410345, + 699.0288981206875, + 39.89199908913369 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 2377.6237302410345, + 701.6269743320408, + 39.89199908913369 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 2379.1237302410345, + 704.2250505433942, + 39.89199908913369 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 2380.6237302410345, + 706.8231267547476, + 39.89199908913369 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 2382.1237302410345, + 709.421202966101, + 39.89199908913369 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 2382.1237302410345, + 709.421202966101, + 39.89199908913369 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 2384.7218064523877, + 710.921202966101, + 39.89199908913369 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 2387.319882663741, + 712.421202966101, + 39.89199908913369 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 2389.917958875094, + 713.921202966101, + 39.89199908913369 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 2392.516035086447, + 715.421202966101, + 39.89199908913369 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 2395.1141112978003, + 716.921202966101, + 39.89199908913369 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 2397.7121875091534, + 718.421202966101, + 39.89199908913369 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 2400.3102637205066, + 719.921202966101, + 39.89199908913369 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 2402.9083399318597, + 721.421202966101, + 39.89199908913369 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 2405.506416143213, + 722.921202966101, + 39.89199908913369 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 2408.104492354566, + 724.421202966101, + 39.89199908913369 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 2410.702568565919, + 725.921202966101, + 39.89199908913369 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 2413.3006447772723, + 727.421202966101, + 39.89199908913369 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 2415.8987209886254, + 728.921202966101, + 39.89199908913369 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 2418.4967971999786, + 730.421202966101, + 39.89199908913369 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 2421.0948734113317, + 731.921202966101, + 39.89199908913369 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 2423.692949622685, + 733.421202966101, + 39.89199908913369 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 2426.291025834038, + 734.921202966101, + 39.89199908913369 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 2428.889102045391, + 736.421202966101, + 39.89199908913369 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 2431.4871782567443, + 737.921202966101, + 39.89199908913369 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 2434.0852544680974, + 739.421202966101, + 39.89199908913369 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 2436.6833306794506, + 740.921202966101, + 39.89199908913369 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 2439.2814068908037, + 742.421202966101, + 39.89199908913369 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755983272 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2452.0, + 756.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_16-9-44_2138704485/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_16-9-44_2138704485/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2ce740d453ac6c9ccb8c7d1dd81990704d00133a --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_16-9-44_2138704485/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2056.0618641079864, + -237.21599239570682, + 24.72063051379972 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2053.463787896633, + -235.71599239570682, + 24.72063051379972 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2053.463787896633, + -235.71599239570682, + 24.72063051379972 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196626 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2051.963787896633, + -233.1179161843535, + 24.72063051379972 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2050.463787896633, + -230.5198399730002, + 24.72063051379972 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2048.963787896633, + -227.92176376164687, + 24.72063051379972 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2047.4637878966332, + -225.32368755029356, + 24.72063051379972 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2045.9637878966332, + -222.72561133894024, + 24.72063051379972 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2044.4637878966332, + -220.12753512758692, + 24.72063051379972 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2042.9637878966332, + -217.5294589162336, + 24.72063051379972 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2042.9637878966332, + -217.5294589162336, + 24.72063051379972 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2040.3657116852798, + -216.0294589162336, + 24.72063051379972 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2037.7676354739265, + -214.5294589162336, + 24.72063051379972 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2035.169559262573, + -213.0294589162336, + 24.72063051379972 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2032.5714830512197, + -211.5294589162336, + 24.72063051379972 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2029.9734068398664, + -210.0294589162336, + 24.72063051379972 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2027.375330628513, + -208.5294589162336, + 24.72063051379972 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2024.7772544171596, + -207.0294589162336, + 24.72063051379972 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2022.1791782058062, + -205.5294589162336, + 24.72063051379972 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2019.5811019944529, + -204.0294589162336, + 24.72063051379972 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2016.9830257830995, + -202.5294589162336, + 24.72063051379972 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2014.3849495717461, + -201.0294589162336, + 24.72063051379972 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2011.7868733603927, + -199.5294589162336, + 24.72063051379972 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2009.1887971490394, + -198.0294589162336, + 24.72063051379972 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2006.590720937686, + -196.5294589162336, + 24.72063051379972 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2003.9926447263326, + -195.0294589162336, + 24.72063051379972 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2001.3945685149793, + -193.5294589162336, + 24.72063051379972 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1998.7964923036259, + -192.0294589162336, + 24.72063051379972 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1996.1984160922725, + -190.5294589162336, + 24.72063051379972 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1993.6003398809191, + -189.0294589162336, + 24.72063051379972 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1991.0022636695658, + -187.5294589162336, + 24.72063051379972 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1988.4041874582124, + -186.0294589162336, + 24.72063051379972 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1985.806111246859, + -184.5294589162336, + 24.72063051379972 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1983.2080350355056, + -183.0294589162336, + 24.72063051379972 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1980.6099588241523, + -181.5294589162336, + 24.72063051379972 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1978.011882612799, + -180.0294589162336, + 24.72063051379972 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1975.4138064014455, + -178.5294589162336, + 24.72063051379972 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1972.8157301900922, + -177.0294589162336, + 24.72063051379972 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1970.2176539787388, + -175.5294589162336, + 24.72063051379972 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1967.6195777673854, + -174.0294589162336, + 24.72063051379972 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1965.021501556032, + -172.5294589162336, + 24.72063051379972 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1962.4234253446787, + -171.0294589162336, + 24.72063051379972 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1959.8253491333253, + -169.5294589162336, + 24.72063051379972 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1957.227272921972, + -168.0294589162336, + 24.72063051379972 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1954.6291967106185, + -166.5294589162336, + 24.72063051379972 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1952.0311204992652, + -165.0294589162336, + 24.72063051379972 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1949.4330442879118, + -163.5294589162336, + 24.72063051379972 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1946.8349680765584, + -162.0294589162336, + 24.72063051379972 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1944.236891865205, + -160.5294589162336, + 24.72063051379972 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1941.6388156538517, + -159.0294589162336, + 24.72063051379972 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -1939.0407394424983, + -157.5294589162336, + 24.72063051379972 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1920.0, + -144.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_17-0-34_103822254/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_17-0-34_103822254/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ba24a766b138a83a38b19d7a3399ab7458d418ea --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_17-0-34_103822254/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3033.7681002622758, + -859.6597764945349, + 16.709668514013448 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3032.2681002622758, + -857.0617002831816, + 16.709668514013448 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3030.7681002622758, + -854.4636240718282, + 16.709668514013448 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3029.2681002622758, + -851.8655478604749, + 16.709668514013448 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3027.7681002622758, + -849.2674716491215, + 16.709668514013448 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3026.2681002622758, + -846.6693954377681, + 16.709668514013448 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3024.7681002622758, + -844.0713192264147, + 16.709668514013448 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3023.2681002622758, + -841.4732430150614, + 16.709668514013448 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 3023.2681002622758, + -841.4732430150614, + 16.709668514013448 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 3023.2681002622758, + -838.4732430150614, + 16.709668514013448 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 3023.2681002622758, + -835.4732430150614, + 16.709668514013448 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 3023.2681002622758, + -832.4732430150614, + 16.709668514013448 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 3023.2681002622758, + -829.4732430150614, + 16.709668514013448 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 3023.2681002622758, + -826.4732430150614, + 16.709668514013448 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 3023.2681002622758, + -823.4732430150614, + 16.709668514013448 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 3023.2681002622758, + -820.4732430150614, + 16.709668514013448 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 3023.2681002622758, + -817.4732430150614, + 16.709668514013448 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 3023.2681002622758, + -814.4732430150614, + 16.709668514013448 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 3023.2681002622758, + -811.4732430150614, + 16.709668514013448 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 3023.2681002622758, + -811.4732430150614, + 16.709668514013448 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 3023.2681002622758, + -811.4732430150614, + 16.709668514013448 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 3020.6700240509226, + -809.9732430150614, + 16.709668514013448 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 3018.0719478395695, + -808.4732430150614, + 16.709668514013448 + ], + "type": "stop", + "value": 0, + "yaw": 2.617993877991466 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2984.0, + -692.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_17-1-15_1036869528/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_17-1-15_1036869528/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0461e612b5ecb4fb3fee990cacaa9bec2aecdb81 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_17-1-15_1036869528/pose.jsonl @@ -0,0 +1,509 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1037.2623012771746, + -1727.7917661084555, + 38.77459502254004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1034.6642250658213, + -1726.2917661084555, + 38.77459502254004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1032.0661488544679, + -1724.7917661084555, + 38.77459502254004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1029.4680726431145, + -1723.2917661084555, + 38.77459502254004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1026.8699964317611, + -1721.7917661084555, + 38.77459502254004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1024.2719202204078, + -1720.2917661084555, + 38.77459502254004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1021.6738440090544, + -1718.7917661084555, + 38.77459502254004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1019.075767797701, + -1717.2917661084555, + 38.77459502254004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1016.4776915863476, + -1715.7917661084555, + 38.77459502254004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1013.8796153749943, + -1714.2917661084555, + 38.77459502254004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1011.2815391636409, + -1712.7917661084555, + 38.77459502254004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1008.6834629522875, + -1711.2917661084555, + 38.77459502254004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1006.0853867409342, + -1709.7917661084555, + 38.77459502254004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1003.4873105295808, + -1708.2917661084555, + 38.77459502254004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1000.8892343182274, + -1706.7917661084555, + 38.77459502254004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 998.291158106874, + -1705.2917661084555, + 38.77459502254004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 995.6930818955207, + -1703.7917661084555, + 38.77459502254004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 993.0950056841673, + -1702.2917661084555, + 38.77459502254004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 990.4969294728139, + -1700.7917661084555, + 38.77459502254004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 987.8988532614605, + -1699.2917661084555, + 38.77459502254004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 985.3007770501072, + -1697.7917661084555, + 38.77459502254004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 982.7027008387538, + -1696.2917661084555, + 38.77459502254004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 980.1046246274004, + -1694.7917661084555, + 38.77459502254004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 977.506548416047, + -1693.2917661084555, + 38.77459502254004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 974.9084722046937, + -1691.7917661084555, + 38.77459502254004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 972.3103959933403, + -1690.2917661084555, + 38.77459502254004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 969.7123197819869, + -1688.7917661084555, + 38.77459502254004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 967.1142435706336, + -1687.2917661084555, + 38.77459502254004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 964.5161673592802, + -1685.7917661084555, + 38.77459502254004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 964.5161673592802, + -1685.7917661084555, + 38.77459502254004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 961.5161673592802, + -1685.7917661084555, + 38.77459502254004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 958.5161673592802, + -1685.7917661084555, + 38.77459502254004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 955.5161673592802, + -1685.7917661084555, + 38.77459502254004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 952.5161673592802, + -1685.7917661084555, + 38.77459502254004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 949.5161673592802, + -1685.7917661084555, + 38.77459502254004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 946.5161673592802, + -1685.7917661084555, + 38.77459502254004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 943.5161673592802, + -1685.7917661084555, + 38.77459502254004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 940.5161673592802, + -1685.7917661084555, + 38.77459502254004 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 884.0, + -1664.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_17-12-56_377108003/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_17-12-56_377108003/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7235d7e3c3abd963d12593a27dc1962df1863331 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_17-12-56_377108003/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4704.034580619665, + -753.2960688912086, + 14.81753167032274 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4707.034580619665, + -753.2960688912086, + 14.81753167032274 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4710.034580619665, + -753.2960688912086, + 14.81753167032274 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4713.034580619665, + -753.2960688912086, + 14.81753167032274 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4716.034580619665, + -753.2960688912086, + 14.81753167032274 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4719.034580619665, + -753.2960688912086, + 14.81753167032274 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4722.034580619665, + -753.2960688912086, + 14.81753167032274 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4725.034580619665, + -753.2960688912086, + 14.81753167032274 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4728.034580619665, + -753.2960688912086, + 14.81753167032274 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4731.034580619665, + -753.2960688912086, + 14.81753167032274 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4734.034580619665, + -753.2960688912086, + 14.81753167032274 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4737.034580619665, + -753.2960688912086, + 14.81753167032274 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4740.034580619665, + -753.2960688912086, + 14.81753167032274 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4743.034580619665, + -753.2960688912086, + 14.81753167032274 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4746.034580619665, + -753.2960688912086, + 14.81753167032274 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4749.034580619665, + -753.2960688912086, + 14.81753167032274 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 4752.034580619665, + -753.2960688912086, + 14.81753167032274 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 4755.034580619665, + -753.2960688912086, + 14.81753167032274 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 4758.034580619665, + -753.2960688912086, + 14.81753167032274 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 4761.034580619665, + -753.2960688912086, + 14.81753167032274 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 4764.034580619665, + -753.2960688912086, + 14.81753167032274 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 4767.034580619665, + -753.2960688912086, + 14.81753167032274 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 4770.034580619665, + -753.2960688912086, + 14.81753167032274 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 4773.034580619665, + -753.2960688912086, + 14.81753167032274 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 4776.034580619665, + -753.2960688912086, + 14.81753167032274 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 4779.034580619665, + -753.2960688912086, + 14.81753167032274 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 4782.034580619665, + -753.2960688912086, + 14.81753167032274 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 4785.034580619665, + -753.2960688912086, + 14.81753167032274 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 4788.034580619665, + -753.2960688912086, + 14.81753167032274 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 4791.034580619665, + -753.2960688912086, + 14.81753167032274 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 4794.034580619665, + -753.2960688912086, + 14.81753167032274 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 4797.034580619665, + -753.2960688912086, + 14.81753167032274 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 4800.034580619665, + -753.2960688912086, + 14.81753167032274 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 4803.034580619665, + -753.2960688912086, + 14.81753167032274 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 4806.034580619665, + -753.2960688912086, + 14.81753167032274 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 4809.034580619665, + -753.2960688912086, + 14.81753167032274 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 4809.034580619665, + -753.2960688912086, + 14.81753167032274 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 4811.632656831018, + -751.7960688912086, + 14.81753167032274 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 4814.230733042371, + -750.2960688912086, + 14.81753167032274 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 4816.828809253724, + -748.7960688912086, + 14.81753167032274 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 4819.426885465077, + -747.2960688912086, + 14.81753167032274 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 4822.02496167643, + -745.7960688912086, + 14.81753167032274 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 4824.6230378877835, + -744.2960688912086, + 14.81753167032274 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 4827.221114099137, + -742.7960688912086, + 14.81753167032274 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 4829.81919031049, + -741.2960688912086, + 14.81753167032274 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 4832.417266521843, + -739.7960688912086, + 14.81753167032274 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 4832.417266521843, + -739.7960688912086, + 14.81753167032274 + ], + "type": "go straight", + "value": 3, + "yaw": 2.842170943040401e-14 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 4835.417266521843, + -739.7960688912086, + 14.81753167032274 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 4838.417266521843, + -739.7960688912086, + 14.81753167032274 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 4841.417266521843, + -739.7960688912086, + 14.81753167032274 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4860.0, + -736.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_17-13-57_788513271/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_17-13-57_788513271/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1aab03b73ffc813b3ac2ee7fe3474439b110b8f8 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_17-13-57_788513271/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2807.0477509189436, + 2409.99314396551, + 30.047064643071877 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2809.6458271302968, + 2408.49314396551, + 30.047064643071877 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2812.24390334165, + 2406.99314396551, + 30.047064643071877 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2814.841979553003, + 2405.49314396551, + 30.047064643071877 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2817.440055764356, + 2403.99314396551, + 30.047064643071877 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2820.0381319757093, + 2402.49314396551, + 30.047064643071877 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2822.6362081870625, + 2400.99314396551, + 30.047064643071877 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2825.2342843984156, + 2399.49314396551, + 30.047064643071877 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2827.832360609769, + 2397.99314396551, + 30.047064643071877 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2830.430436821122, + 2396.49314396551, + 30.047064643071877 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2833.028513032475, + 2394.99314396551, + 30.047064643071877 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2835.626589243828, + 2393.49314396551, + 30.047064643071877 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2838.2246654551814, + 2391.99314396551, + 30.047064643071877 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2840.8227416665345, + 2390.49314396551, + 30.047064643071877 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2843.4208178778877, + 2388.99314396551, + 30.047064643071877 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2846.018894089241, + 2387.49314396551, + 30.047064643071877 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2848.616970300594, + 2385.99314396551, + 30.047064643071877 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2851.215046511947, + 2384.49314396551, + 30.047064643071877 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2853.8131227233002, + 2382.99314396551, + 30.047064643071877 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2856.4111989346534, + 2381.49314396551, + 30.047064643071877 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2859.0092751460065, + 2379.99314396551, + 30.047064643071877 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2861.6073513573597, + 2378.49314396551, + 30.047064643071877 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2864.205427568713, + 2376.99314396551, + 30.047064643071877 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2866.803503780066, + 2375.49314396551, + 30.047064643071877 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2869.401579991419, + 2373.99314396551, + 30.047064643071877 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2871.9996562027723, + 2372.49314396551, + 30.047064643071877 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2874.5977324141254, + 2370.99314396551, + 30.047064643071877 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2877.1958086254785, + 2369.49314396551, + 30.047064643071877 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2879.7938848368317, + 2367.99314396551, + 30.047064643071877 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2882.391961048185, + 2366.49314396551, + 30.047064643071877 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2884.990037259538, + 2364.99314396551, + 30.047064643071877 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2887.588113470891, + 2363.49314396551, + 30.047064643071877 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2890.1861896822443, + 2361.99314396551, + 30.047064643071877 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2892.7842658935974, + 2360.49314396551, + 30.047064643071877 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2895.3823421049506, + 2358.99314396551, + 30.047064643071877 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -2897.9804183163037, + 2357.49314396551, + 30.047064643071877 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -2900.578494527657, + 2355.99314396551, + 30.047064643071877 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -2903.17657073901, + 2354.49314396551, + 30.047064643071877 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -2905.774646950363, + 2352.99314396551, + 30.047064643071877 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -2908.3727231617163, + 2351.49314396551, + 30.047064643071877 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -2910.9707993730694, + 2349.99314396551, + 30.047064643071877 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -2913.5688755844226, + 2348.49314396551, + 30.047064643071877 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -2913.5688755844226, + 2348.49314396551, + 30.047064643071877 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535897647 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -2916.5688755844226, + 2348.49314396551, + 30.047064643071877 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -2919.5688755844226, + 2348.49314396551, + 30.047064643071877 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -2922.5688755844226, + 2348.49314396551, + 30.047064643071877 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -2925.5688755844226, + 2348.49314396551, + 30.047064643071877 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2948.0, + 2336.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_17-15-15_892335526/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_17-15-15_892335526/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8e215138476280734ccbafa90fa018ff7b538c09 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_17-15-15_892335526/pose.jsonl @@ -0,0 +1,808 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2655.135055660316, + 1195.6581955982153, + 31.367066425693128 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2656.635055660316, + 1193.060119386862, + 31.367066425693128 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2658.135055660316, + 1190.4620431755086, + 31.367066425693128 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2659.635055660316, + 1187.8639669641552, + 31.367066425693128 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2661.135055660316, + 1185.2658907528019, + 31.367066425693128 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2661.135055660316, + 1185.2658907528019, + 31.367066425693128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2661.135055660316, + 1182.2658907528019, + 31.367066425693128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2661.135055660316, + 1179.2658907528019, + 31.367066425693128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2661.135055660316, + 1176.2658907528019, + 31.367066425693128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2661.135055660316, + 1173.2658907528019, + 31.367066425693128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2661.135055660316, + 1170.2658907528019, + 31.367066425693128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2661.135055660316, + 1167.2658907528019, + 31.367066425693128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2661.135055660316, + 1164.2658907528019, + 31.367066425693128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2661.135055660316, + 1161.2658907528019, + 31.367066425693128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2661.135055660316, + 1158.2658907528019, + 31.367066425693128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2661.135055660316, + 1155.2658907528019, + 31.367066425693128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2661.135055660316, + 1152.2658907528019, + 31.367066425693128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2661.135055660316, + 1149.2658907528019, + 31.367066425693128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2661.135055660316, + 1146.2658907528019, + 31.367066425693128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2661.135055660316, + 1143.2658907528019, + 31.367066425693128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2661.135055660316, + 1140.2658907528019, + 31.367066425693128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2661.135055660316, + 1137.2658907528019, + 31.367066425693128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2661.135055660316, + 1134.2658907528019, + 31.367066425693128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2661.135055660316, + 1131.2658907528019, + 31.367066425693128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2661.135055660316, + 1128.2658907528019, + 31.367066425693128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2661.135055660316, + 1125.2658907528019, + 31.367066425693128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2661.135055660316, + 1122.2658907528019, + 31.367066425693128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2661.135055660316, + 1119.2658907528019, + 31.367066425693128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2661.135055660316, + 1116.2658907528019, + 31.367066425693128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2661.135055660316, + 1113.2658907528019, + 31.367066425693128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2661.135055660316, + 1110.2658907528019, + 31.367066425693128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2661.135055660316, + 1107.2658907528019, + 31.367066425693128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2661.135055660316, + 1104.2658907528019, + 31.367066425693128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2661.135055660316, + 1101.2658907528019, + 31.367066425693128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2661.135055660316, + 1098.2658907528019, + 31.367066425693128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -2661.135055660316, + 1095.2658907528019, + 31.367066425693128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -2661.135055660316, + 1092.2658907528019, + 31.367066425693128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -2661.135055660316, + 1089.2658907528019, + 31.367066425693128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -2661.135055660316, + 1086.2658907528019, + 31.367066425693128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -2661.135055660316, + 1083.2658907528019, + 31.367066425693128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -2661.135055660316, + 1080.2658907528019, + 31.367066425693128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -2661.135055660316, + 1077.2658907528019, + 31.367066425693128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -2661.135055660316, + 1074.2658907528019, + 31.367066425693128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -2661.135055660316, + 1071.2658907528019, + 31.367066425693128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -2661.135055660316, + 1068.2658907528019, + 31.367066425693128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -2661.135055660316, + 1065.2658907528019, + 31.367066425693128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -2661.135055660316, + 1062.2658907528019, + 31.367066425693128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -2661.135055660316, + 1059.2658907528019, + 31.367066425693128 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -2661.135055660316, + 1059.2658907528019, + 31.367066425693128 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -2661.135055660316, + 1059.2658907528019, + 31.367066425693128 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -2658.536979448963, + 1057.7658907528019, + 31.367066425693128 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -2655.93890323761, + 1056.2658907528019, + 31.367066425693128 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -2655.93890323761, + 1056.2658907528019, + 31.367066425693128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196626 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -2654.43890323761, + 1053.6678145414485, + 31.367066425693128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -2652.93890323761, + 1051.069738330095, + 31.367066425693128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -2651.43890323761, + 1048.4716621187417, + 31.367066425693128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -2649.93890323761, + 1045.8735859073884, + 31.367066425693128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -2648.43890323761, + 1043.275509696035, + 31.367066425693128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -2646.93890323761, + 1040.6774334846816, + 31.367066425693128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -2645.43890323761, + 1038.0793572733282, + 31.367066425693128 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -2643.93890323761, + 1035.4812810619749, + 31.367066425693128 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2640.0, + 1024.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_17-23-37_1042080532/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_17-23-37_1042080532/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..102eefb3503cc02743042ce222296fb28d865e35 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_17-23-37_1042080532/pose.jsonl @@ -0,0 +1,561 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 87.43960027803564, + 1412.347794530087, + 22.35331123579831 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 90.03767648938896, + 1410.847794530087, + 22.35331123579831 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 92.63575270074227, + 1409.347794530087, + 22.35331123579831 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 95.23382891209559, + 1407.847794530087, + 22.35331123579831 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 97.8319051234489, + 1406.347794530087, + 22.35331123579831 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 100.42998133480222, + 1404.847794530087, + 22.35331123579831 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 103.02805754615554, + 1403.347794530087, + 22.35331123579831 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 105.62613375750885, + 1401.847794530087, + 22.35331123579831 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 108.22420996886217, + 1400.347794530087, + 22.35331123579831 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 110.82228618021549, + 1398.847794530087, + 22.35331123579831 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 113.4203623915688, + 1397.347794530087, + 22.35331123579831 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 116.01843860292212, + 1395.847794530087, + 22.35331123579831 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 118.61651481427543, + 1394.347794530087, + 22.35331123579831 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 121.21459102562875, + 1392.847794530087, + 22.35331123579831 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 123.81266723698207, + 1391.347794530087, + 22.35331123579831 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 126.41074344833538, + 1389.847794530087, + 22.35331123579831 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 129.0088196596887, + 1388.347794530087, + 22.35331123579831 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 131.606895871042, + 1386.847794530087, + 22.35331123579831 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 134.20497208239533, + 1385.347794530087, + 22.35331123579831 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 136.80304829374865, + 1383.847794530087, + 22.35331123579831 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 139.40112450510196, + 1382.347794530087, + 22.35331123579831 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 141.99920071645528, + 1380.847794530087, + 22.35331123579831 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 144.5972769278086, + 1379.347794530087, + 22.35331123579831 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 147.1953531391619, + 1377.847794530087, + 22.35331123579831 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 149.79342935051523, + 1376.347794530087, + 22.35331123579831 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 152.39150556186854, + 1374.847794530087, + 22.35331123579831 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 154.98958177322186, + 1373.347794530087, + 22.35331123579831 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 157.58765798457517, + 1371.847794530087, + 22.35331123579831 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 160.1857341959285, + 1370.347794530087, + 22.35331123579831 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 162.7838104072818, + 1368.847794530087, + 22.35331123579831 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 162.7838104072818, + 1368.847794530087, + 22.35331123579831 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 164.2838104072818, + 1366.2497183187336, + 22.35331123579831 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 165.7838104072818, + 1363.6516421073802, + 22.35331123579831 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 167.2838104072818, + 1361.0535658960268, + 22.35331123579831 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 168.7838104072818, + 1358.4554896846735, + 22.35331123579831 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 170.2838104072818, + 1355.85741347332, + 22.35331123579831 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 171.7838104072818, + 1353.2593372619667, + 22.35331123579831 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 173.2838104072818, + 1350.6612610506133, + 22.35331123579831 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 173.2838104072818, + 1350.6612610506133, + 22.35331123579831 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 175.88188661863512, + 1349.1612610506133, + 22.35331123579831 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 178.47996282998844, + 1347.6612610506133, + 22.35331123579831 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 181.07803904134175, + 1346.1612610506133, + 22.35331123579831 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 224.0, + 1316.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_17-27-33_819599372/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_17-27-33_819599372/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ace9f5b5bce2dbccb341a1533864a6d95d24446b --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_17-27-33_819599372/pose.jsonl @@ -0,0 +1,171 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3277.070500681111, + -2915.1085999931406, + 25.97253846439607 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3277.070500681111, + -2918.1085999931406, + 25.97253846439607 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3277.070500681111, + -2921.1085999931406, + 25.97253846439607 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3277.070500681111, + -2924.1085999931406, + 25.97253846439607 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3277.070500681111, + -2927.1085999931406, + 25.97253846439607 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3277.070500681111, + -2930.1085999931406, + 25.97253846439607 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3277.070500681111, + -2930.1085999931406, + 25.97253846439607 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3278.570500681111, + -2932.7066762044938, + 25.97253846439607 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 3280.070500681111, + -2935.304752415847, + 25.97253846439607 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 3281.570500681111, + -2937.9028286272, + 25.97253846439607 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 3283.070500681111, + -2940.500904838553, + 25.97253846439607 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 3284.570500681111, + -2943.0989810499063, + 25.97253846439607 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965694 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3316.0, + -3080.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_17-27-43_871328242/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_17-27-43_871328242/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7a0e7e6e34ca35bba764a42b3db61bba9880d383 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_17-27-43_871328242/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1298.774297266981, + -2327.509462088767, + 17.698894906499664 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1298.774297266981, + -2324.509462088767, + 17.698894906499664 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1298.774297266981, + -2321.509462088767, + 17.698894906499664 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1298.774297266981, + -2318.509462088767, + 17.698894906499664 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1298.774297266981, + -2315.509462088767, + 17.698894906499664 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1298.774297266981, + -2312.509462088767, + 17.698894906499664 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1298.774297266981, + -2309.509462088767, + 17.698894906499664 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1298.774297266981, + -2306.509462088767, + 17.698894906499664 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1298.774297266981, + -2303.509462088767, + 17.698894906499664 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1298.774297266981, + -2300.509462088767, + 17.698894906499664 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1298.774297266981, + -2297.509462088767, + 17.698894906499664 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1298.774297266981, + -2294.509462088767, + 17.698894906499664 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1298.774297266981, + -2291.509462088767, + 17.698894906499664 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1298.774297266981, + -2288.509462088767, + 17.698894906499664 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1298.774297266981, + -2285.509462088767, + 17.698894906499664 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1298.774297266981, + -2282.509462088767, + 17.698894906499664 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1298.774297266981, + -2279.509462088767, + 17.698894906499664 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1298.774297266981, + -2276.509462088767, + 17.698894906499664 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1298.774297266981, + -2273.509462088767, + 17.698894906499664 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1298.774297266981, + -2270.509462088767, + 17.698894906499664 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1298.774297266981, + -2267.509462088767, + 17.698894906499664 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1298.774297266981, + -2264.509462088767, + 17.698894906499664 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1298.774297266981, + -2261.509462088767, + 17.698894906499664 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1298.774297266981, + -2258.509462088767, + 17.698894906499664 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1298.774297266981, + -2255.509462088767, + 17.698894906499664 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1298.774297266981, + -2252.509462088767, + 17.698894906499664 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1298.774297266981, + -2249.509462088767, + 17.698894906499664 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1298.774297266981, + -2246.509462088767, + 17.698894906499664 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1298.774297266981, + -2243.509462088767, + 17.698894906499664 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1298.774297266981, + -2240.509462088767, + 17.698894906499664 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1298.774297266981, + -2237.509462088767, + 17.698894906499664 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1298.774297266981, + -2234.509462088767, + 17.698894906499664 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1298.774297266981, + -2231.509462088767, + 17.698894906499664 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1298.774297266981, + -2228.509462088767, + 17.698894906499664 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1298.774297266981, + -2225.509462088767, + 17.698894906499664 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1298.774297266981, + -2222.509462088767, + 17.698894906499664 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1298.774297266981, + -2219.509462088767, + 17.698894906499664 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1298.774297266981, + -2216.509462088767, + 17.698894906499664 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1298.774297266981, + -2213.509462088767, + 17.698894906499664 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1298.774297266981, + -2210.509462088767, + 17.698894906499664 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1298.774297266981, + -2210.509462088767, + 17.698894906499664 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1300.274297266981, + -2207.911385877414, + 17.698894906499664 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1301.774297266981, + -2205.313309666061, + 17.698894906499664 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1303.274297266981, + -2202.7152334547077, + 17.698894906499664 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1304.774297266981, + -2200.1171572433545, + 17.698894906499664 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1306.274297266981, + -2197.5190810320014, + 17.698894906499664 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1307.774297266981, + -2194.9210048206482, + 17.698894906499664 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1309.274297266981, + -2192.322928609295, + 17.698894906499664 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1310.774297266981, + -2189.724852397942, + 17.698894906499664 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1312.274297266981, + -2187.126776186589, + 17.698894906499664 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -1313.774297266981, + -2184.5286999752357, + 17.698894906499664 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -1315.274297266981, + -2181.9306237638825, + 17.698894906499664 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -1316.774297266981, + -2179.3325475525294, + 17.698894906499664 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -1318.274297266981, + -2176.7344713411762, + 17.698894906499664 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -1319.774297266981, + -2174.136395129823, + 17.698894906499664 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023932237 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1324.0, + -2152.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_17-29-39_1277970780/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_17-29-39_1277970780/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..417f15e89b6f822a40806014b508e1e9f7be77a8 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_17-29-39_1277970780/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4374.1754089179385, + 183.21768789729973, + 34.0740387327934 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4372.6754089179385, + 180.6196116859464, + 34.0740387327934 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4371.1754089179385, + 178.0215354745931, + 34.0740387327934 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4369.6754089179385, + 175.42345926323978, + 34.0740387327934 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4368.1754089179385, + 172.82538305188646, + 34.0740387327934 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4366.6754089179385, + 170.22730684053315, + 34.0740387327934 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4365.1754089179385, + 167.62923062917983, + 34.0740387327934 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4363.6754089179385, + 165.0311544178265, + 34.0740387327934 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4362.1754089179385, + 162.4330782064732, + 34.0740387327934 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4360.6754089179385, + 159.83500199511988, + 34.0740387327934 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4359.1754089179385, + 157.23692578376657, + 34.0740387327934 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4357.6754089179385, + 154.63884957241325, + 34.0740387327934 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4356.1754089179385, + 152.04077336105993, + 34.0740387327934 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4354.6754089179385, + 149.44269714970662, + 34.0740387327934 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4353.1754089179385, + 146.8446209383533, + 34.0740387327934 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4351.6754089179385, + 144.24654472699999, + 34.0740387327934 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 4350.1754089179385, + 141.64846851564667, + 34.0740387327934 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 4348.6754089179385, + 139.05039230429335, + 34.0740387327934 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 4347.1754089179385, + 136.45231609294004, + 34.0740387327934 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 4345.6754089179385, + 133.85423988158672, + 34.0740387327934 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 4344.1754089179385, + 131.2561636702334, + 34.0740387327934 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 4342.6754089179385, + 128.6580874588801, + 34.0740387327934 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 4342.6754089179385, + 128.6580874588801, + 34.0740387327934 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 4342.6754089179385, + 125.65808745888009, + 34.0740387327934 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 4342.6754089179385, + 122.65808745888009, + 34.0740387327934 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 4342.6754089179385, + 119.65808745888009, + 34.0740387327934 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 4342.6754089179385, + 116.65808745888009, + 34.0740387327934 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 4342.6754089179385, + 113.65808745888009, + 34.0740387327934 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 4342.6754089179385, + 110.65808745888009, + 34.0740387327934 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 4342.6754089179385, + 107.65808745888009, + 34.0740387327934 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 4342.6754089179385, + 104.65808745888009, + 34.0740387327934 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 4342.6754089179385, + 101.65808745888009, + 34.0740387327934 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 4342.6754089179385, + 98.65808745888009, + 34.0740387327934 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 4342.6754089179385, + 95.65808745888009, + 34.0740387327934 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 4342.6754089179385, + 92.65808745888009, + 34.0740387327934 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 4342.6754089179385, + 89.65808745888009, + 34.0740387327934 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 4342.6754089179385, + 86.65808745888009, + 34.0740387327934 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 4342.6754089179385, + 83.65808745888009, + 34.0740387327934 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 4342.6754089179385, + 80.65808745888009, + 34.0740387327934 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 4342.6754089179385, + 77.65808745888009, + 34.0740387327934 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 4342.6754089179385, + 74.65808745888009, + 34.0740387327934 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 4342.6754089179385, + 71.65808745888009, + 34.0740387327934 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 4342.6754089179385, + 68.65808745888009, + 34.0740387327934 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 4342.6754089179385, + 65.65808745888009, + 34.0740387327934 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 4342.6754089179385, + 62.65808745888009, + 34.0740387327934 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 4342.6754089179385, + 59.65808745888009, + 34.0740387327934 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 4342.6754089179385, + 56.65808745888009, + 34.0740387327934 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 4342.6754089179385, + 53.65808745888009, + 34.0740387327934 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 4342.6754089179385, + 50.65808745888009, + 34.0740387327934 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 4342.6754089179385, + 50.65808745888009, + 34.0740387327934 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 4341.1754089179385, + 48.060011247526774, + 34.0740387327934 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 4339.6754089179385, + 45.46193503617346, + 34.0740387327934 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 4338.1754089179385, + 42.86385882482014, + 34.0740387327934 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 4336.6754089179385, + 40.265782613466826, + 34.0740387327934 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4332.0, + 28.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_17-3-46_849876229/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_17-3-46_849876229/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0ffe439e5e76148c63e51f02989f7fc2b96468d1 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_17-3-46_849876229/pose.jsonl @@ -0,0 +1,548 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2946.481267348201, + -1098.6760273065422, + 34.16614057839193 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2946.481267348201, + -1095.6760273065422, + 34.16614057839193 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2946.481267348201, + -1092.6760273065422, + 34.16614057839193 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2946.481267348201, + -1089.6760273065422, + 34.16614057839193 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2946.481267348201, + -1086.6760273065422, + 34.16614057839193 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2946.481267348201, + -1083.6760273065422, + 34.16614057839193 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2946.481267348201, + -1080.6760273065422, + 34.16614057839193 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2946.481267348201, + -1077.6760273065422, + 34.16614057839193 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2946.481267348201, + -1074.6760273065422, + 34.16614057839193 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2946.481267348201, + -1071.6760273065422, + 34.16614057839193 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2946.481267348201, + -1068.6760273065422, + 34.16614057839193 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2946.481267348201, + -1065.6760273065422, + 34.16614057839193 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2946.481267348201, + -1062.6760273065422, + 34.16614057839193 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2946.481267348201, + -1059.6760273065422, + 34.16614057839193 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2946.481267348201, + -1056.6760273065422, + 34.16614057839193 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2946.481267348201, + -1056.6760273065422, + 34.16614057839193 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2946.481267348201, + -1056.6760273065422, + 34.16614057839193 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2949.079343559554, + -1055.1760273065422, + 34.16614057839193 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2951.6774197709074, + -1053.6760273065422, + 34.16614057839193 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2954.2754959822605, + -1052.1760273065422, + 34.16614057839193 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2956.8735721936137, + -1050.6760273065422, + 34.16614057839193 + ], + "type": "turn right", + "value": 30, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2956.8735721936137, + -1050.6760273065422, + 34.16614057839193 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931673 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2958.3735721936137, + -1048.0779510951888, + 34.16614057839193 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2959.8735721936137, + -1045.4798748838355, + 34.16614057839193 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2961.3735721936137, + -1042.881798672482, + 34.16614057839193 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2962.8735721936137, + -1040.2837224611287, + 34.16614057839193 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2964.3735721936137, + -1037.6856462497753, + 34.16614057839193 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2965.8735721936137, + -1035.087570038422, + 34.16614057839193 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2967.3735721936137, + -1032.4894938270686, + 34.16614057839193 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2968.8735721936137, + -1029.8914176157152, + 34.16614057839193 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2970.3735721936137, + -1027.2933414043619, + 34.16614057839193 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2971.8735721936137, + -1024.6952651930085, + 34.16614057839193 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2973.3735721936137, + -1022.0971889816551, + 34.16614057839193 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2974.8735721936137, + -1019.4991127703017, + 34.16614057839193 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2976.3735721936137, + -1016.9010365589484, + 34.16614057839193 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -2977.8735721936137, + -1014.302960347595, + 34.16614057839193 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -2979.3735721936137, + -1011.7048841362416, + 34.16614057839193 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -2980.8735721936137, + -1009.1068079248882, + 34.16614057839193 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -2982.3735721936137, + -1006.5087317135349, + 34.16614057839193 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -2983.8735721936137, + -1003.9106555021815, + 34.16614057839193 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -2985.3735721936137, + -1001.3125792908281, + 34.16614057839193 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -3008.0, + -940.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_17-30-9_352964522/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_17-30-9_352964522/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..714286404ff7e177fff934d1897affdbc5f82d2b --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_17-30-9_352964522/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 115.32149833153159, + 2381.26590612962, + 32.741745581886505 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 117.9195745428849, + 2379.76590612962, + 32.741745581886505 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 120.51765075423822, + 2378.26590612962, + 32.741745581886505 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 123.11572696559153, + 2376.76590612962, + 32.741745581886505 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 125.71380317694485, + 2375.26590612962, + 32.741745581886505 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 128.31187938829817, + 2373.76590612962, + 32.741745581886505 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 130.90995559965148, + 2372.26590612962, + 32.741745581886505 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 133.5080318110048, + 2370.76590612962, + 32.741745581886505 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 136.10610802235811, + 2369.26590612962, + 32.741745581886505 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 138.70418423371143, + 2367.76590612962, + 32.741745581886505 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 141.30226044506475, + 2366.26590612962, + 32.741745581886505 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 143.90033665641806, + 2364.76590612962, + 32.741745581886505 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 146.49841286777138, + 2363.26590612962, + 32.741745581886505 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 149.0964890791247, + 2361.76590612962, + 32.741745581886505 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 151.694565290478, + 2360.26590612962, + 32.741745581886505 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 154.29264150183133, + 2358.76590612962, + 32.741745581886505 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 156.89071771318464, + 2357.26590612962, + 32.741745581886505 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 159.48879392453796, + 2355.76590612962, + 32.741745581886505 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 162.08687013589127, + 2354.26590612962, + 32.741745581886505 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 164.6849463472446, + 2352.76590612962, + 32.741745581886505 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 167.2830225585979, + 2351.26590612962, + 32.741745581886505 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 169.88109876995122, + 2349.76590612962, + 32.741745581886505 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 172.47917498130454, + 2348.26590612962, + 32.741745581886505 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 175.07725119265785, + 2346.76590612962, + 32.741745581886505 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 177.67532740401117, + 2345.26590612962, + 32.741745581886505 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 180.2734036153645, + 2343.76590612962, + 32.741745581886505 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 182.8714798267178, + 2342.26590612962, + 32.741745581886505 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 185.46955603807112, + 2340.76590612962, + 32.741745581886505 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 188.06763224942443, + 2339.26590612962, + 32.741745581886505 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 190.66570846077775, + 2337.76590612962, + 32.741745581886505 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 193.26378467213107, + 2336.26590612962, + 32.741745581886505 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 195.86186088348438, + 2334.76590612962, + 32.741745581886505 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 198.4599370948377, + 2333.26590612962, + 32.741745581886505 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 201.05801330619101, + 2331.76590612962, + 32.741745581886505 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 203.65608951754433, + 2330.26590612962, + 32.741745581886505 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 206.25416572889765, + 2328.76590612962, + 32.741745581886505 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 208.85224194025096, + 2327.26590612962, + 32.741745581886505 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 211.45031815160428, + 2325.76590612962, + 32.741745581886505 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 214.0483943629576, + 2324.26590612962, + 32.741745581886505 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 216.6464705743109, + 2322.76590612962, + 32.741745581886505 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 219.24454678566423, + 2321.26590612962, + 32.741745581886505 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 221.84262299701754, + 2319.76590612962, + 32.741745581886505 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 224.44069920837086, + 2318.26590612962, + 32.741745581886505 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 227.03877541972417, + 2316.76590612962, + 32.741745581886505 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 229.6368516310775, + 2315.26590612962, + 32.741745581886505 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 229.6368516310775, + 2315.26590612962, + 32.741745581886505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 232.6368516310775, + 2315.26590612962, + 32.741745581886505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 235.6368516310775, + 2315.26590612962, + 32.741745581886505 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 256.0, + 2304.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_17-33-53_1764756387/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_17-33-53_1764756387/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..54cb401a34464eacff20ff8feff14fb9c063920d --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_17-33-53_1764756387/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4785.5054876227105, + -1570.1018870617418, + 34.0667845286438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4785.5054876227105, + -1573.1018870617418, + 34.0667845286438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4785.5054876227105, + -1576.1018870617418, + 34.0667845286438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4785.5054876227105, + -1579.1018870617418, + 34.0667845286438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4785.5054876227105, + -1582.1018870617418, + 34.0667845286438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4785.5054876227105, + -1585.1018870617418, + 34.0667845286438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4785.5054876227105, + -1588.1018870617418, + 34.0667845286438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4785.5054876227105, + -1591.1018870617418, + 34.0667845286438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4785.5054876227105, + -1594.1018870617418, + 34.0667845286438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4785.5054876227105, + -1597.1018870617418, + 34.0667845286438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4785.5054876227105, + -1600.1018870617418, + 34.0667845286438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4785.5054876227105, + -1603.1018870617418, + 34.0667845286438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4785.5054876227105, + -1606.1018870617418, + 34.0667845286438 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4785.5054876227105, + -1606.1018870617418, + 34.0667845286438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4787.0054876227105, + -1608.6999632730951, + 34.0667845286438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4788.5054876227105, + -1611.2980394844485, + 34.0667845286438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 4790.0054876227105, + -1613.8961156958019, + 34.0667845286438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 4791.5054876227105, + -1616.4941919071553, + 34.0667845286438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 4793.0054876227105, + -1619.0922681185086, + 34.0667845286438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 4794.5054876227105, + -1621.690344329862, + 34.0667845286438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 4796.0054876227105, + -1624.2884205412154, + 34.0667845286438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 4797.5054876227105, + -1626.8864967525687, + 34.0667845286438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 4799.0054876227105, + -1629.4845729639221, + 34.0667845286438 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4824.0, + -1736.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_17-39-48_281276174/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_17-39-48_281276174/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..381aa13915701fd4abcaf6e8609475ddccdc022a --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_17-39-48_281276174/pose.jsonl @@ -0,0 +1,353 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1685.1925592523814, + -1254.5532584892744, + 38.27015647542167 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1682.594483041028, + -1256.0532584892744, + 38.27015647542167 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1679.9964068296747, + -1257.5532584892744, + 38.27015647542167 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1677.3983306183213, + -1259.0532584892744, + 38.27015647542167 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1674.800254406968, + -1260.5532584892744, + 38.27015647542167 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1672.2021781956146, + -1262.0532584892744, + 38.27015647542167 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1669.6041019842612, + -1263.5532584892744, + 38.27015647542167 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1667.0060257729078, + -1265.0532584892744, + 38.27015647542167 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1664.4079495615545, + -1266.5532584892744, + 38.27015647542167 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1661.809873350201, + -1268.0532584892744, + 38.27015647542167 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1659.2117971388477, + -1269.5532584892744, + 38.27015647542167 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1656.6137209274943, + -1271.0532584892744, + 38.27015647542167 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1654.015644716141, + -1272.5532584892744, + 38.27015647542167 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1651.4175685047876, + -1274.0532584892744, + 38.27015647542167 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1648.8194922934342, + -1275.5532584892744, + 38.27015647542167 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1646.2214160820809, + -1277.0532584892744, + 38.27015647542167 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1643.6233398707275, + -1278.5532584892744, + 38.27015647542167 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1641.025263659374, + -1280.0532584892744, + 38.27015647542167 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1638.4271874480207, + -1281.5532584892744, + 38.27015647542167 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1635.8291112366674, + -1283.0532584892744, + 38.27015647542167 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1633.231035025314, + -1284.5532584892744, + 38.27015647542167 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1630.6329588139606, + -1286.0532584892744, + 38.27015647542167 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1628.0348826026072, + -1287.5532584892744, + 38.27015647542167 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1625.4368063912539, + -1289.0532584892744, + 38.27015647542167 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1622.8387301799005, + -1290.5532584892744, + 38.27015647542167 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1620.2406539685471, + -1292.0532584892744, + 38.27015647542167 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1544.0, + -1336.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_17-4-41_61755148/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_17-4-41_61755148/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f6f336460cc765e0d6fcf63f5233eefd974c0c3d --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_17-4-41_61755148/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2468.1165150037245, + 2406.778674277733, + 24.385641466538182 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2471.1165150037245, + 2406.778674277733, + 24.385641466538182 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2474.1165150037245, + 2406.778674277733, + 24.385641466538182 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2477.1165150037245, + 2406.778674277733, + 24.385641466538182 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2480.1165150037245, + 2406.778674277733, + 24.385641466538182 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2483.1165150037245, + 2406.778674277733, + 24.385641466538182 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2486.1165150037245, + 2406.778674277733, + 24.385641466538182 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2489.1165150037245, + 2406.778674277733, + 24.385641466538182 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2492.1165150037245, + 2406.778674277733, + 24.385641466538182 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2495.1165150037245, + 2406.778674277733, + 24.385641466538182 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2498.1165150037245, + 2406.778674277733, + 24.385641466538182 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2501.1165150037245, + 2406.778674277733, + 24.385641466538182 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2504.1165150037245, + 2406.778674277733, + 24.385641466538182 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2507.1165150037245, + 2406.778674277733, + 24.385641466538182 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2510.1165150037245, + 2406.778674277733, + 24.385641466538182 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2513.1165150037245, + 2406.778674277733, + 24.385641466538182 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2516.1165150037245, + 2406.778674277733, + 24.385641466538182 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2519.1165150037245, + 2406.778674277733, + 24.385641466538182 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2522.1165150037245, + 2406.778674277733, + 24.385641466538182 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2525.1165150037245, + 2406.778674277733, + 24.385641466538182 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2528.1165150037245, + 2406.778674277733, + 24.385641466538182 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2531.1165150037245, + 2406.778674277733, + 24.385641466538182 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2534.1165150037245, + 2406.778674277733, + 24.385641466538182 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2537.1165150037245, + 2406.778674277733, + 24.385641466538182 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2540.1165150037245, + 2406.778674277733, + 24.385641466538182 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2543.1165150037245, + 2406.778674277733, + 24.385641466538182 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2546.1165150037245, + 2406.778674277733, + 24.385641466538182 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2549.1165150037245, + 2406.778674277733, + 24.385641466538182 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2552.1165150037245, + 2406.778674277733, + 24.385641466538182 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2555.1165150037245, + 2406.778674277733, + 24.385641466538182 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2558.1165150037245, + 2406.778674277733, + 24.385641466538182 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2561.1165150037245, + 2406.778674277733, + 24.385641466538182 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2564.1165150037245, + 2406.778674277733, + 24.385641466538182 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2567.1165150037245, + 2406.778674277733, + 24.385641466538182 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2570.1165150037245, + 2406.778674277733, + 24.385641466538182 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -2573.1165150037245, + 2406.778674277733, + 24.385641466538182 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -2576.1165150037245, + 2406.778674277733, + 24.385641466538182 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -2579.1165150037245, + 2406.778674277733, + 24.385641466538182 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -2582.1165150037245, + 2406.778674277733, + 24.385641466538182 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -2585.1165150037245, + 2406.778674277733, + 24.385641466538182 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -2588.1165150037245, + 2406.778674277733, + 24.385641466538182 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -2591.1165150037245, + 2406.778674277733, + 24.385641466538182 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -2594.1165150037245, + 2406.778674277733, + 24.385641466538182 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -2597.1165150037245, + 2406.778674277733, + 24.385641466538182 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -2597.1165150037245, + 2406.778674277733, + 24.385641466538182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -2599.7145912150777, + 2408.278674277733, + 24.385641466538182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -2602.312667426431, + 2409.778674277733, + 24.385641466538182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -2604.910743637784, + 2411.278674277733, + 24.385641466538182 + ], + "type": "stop", + "value": 0, + "yaw": 2.617993877991466 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2640.0, + 2412.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_17-40-6_2146735658/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_17-40-6_2146735658/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bb61a5b97d058b8e8206ef1ce925b5d49f4d38df --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_17-40-6_2146735658/pose.jsonl @@ -0,0 +1,483 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2243.4945913865986, + 2246.9914006887207, + 18.118580207173586 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2241.9945913865986, + 2249.589476900074, + 18.118580207173586 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2240.4945913865986, + 2252.187553111427, + 18.118580207173586 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2238.9945913865986, + 2254.78562932278, + 18.118580207173586 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2238.9945913865986, + 2254.78562932278, + 18.118580207173586 + ], + "type": "go straight", + "value": 3, + "yaw": 1.570796326794925 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2238.9945913865986, + 2257.78562932278, + 18.118580207173586 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2238.9945913865986, + 2260.78562932278, + 18.118580207173586 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2238.9945913865986, + 2263.78562932278, + 18.118580207173586 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2238.9945913865986, + 2266.78562932278, + 18.118580207173586 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 2238.9945913865986, + 2269.78562932278, + 18.118580207173586 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2238.9945913865986, + 2272.78562932278, + 18.118580207173586 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2238.9945913865986, + 2275.78562932278, + 18.118580207173586 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 2238.9945913865986, + 2278.78562932278, + 18.118580207173586 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 2238.9945913865986, + 2281.78562932278, + 18.118580207173586 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 2238.9945913865986, + 2284.78562932278, + 18.118580207173586 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 2238.9945913865986, + 2287.78562932278, + 18.118580207173586 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 2238.9945913865986, + 2290.78562932278, + 18.118580207173586 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 2238.9945913865986, + 2293.78562932278, + 18.118580207173586 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 2238.9945913865986, + 2296.78562932278, + 18.118580207173586 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 2238.9945913865986, + 2299.78562932278, + 18.118580207173586 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 2238.9945913865986, + 2302.78562932278, + 18.118580207173586 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 2238.9945913865986, + 2302.78562932278, + 18.118580207173586 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 2237.4945913865986, + 2305.3837055341332, + 18.118580207173586 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 2235.9945913865986, + 2307.9817817454864, + 18.118580207173586 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 2234.4945913865986, + 2310.5798579568395, + 18.118580207173586 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 2232.9945913865986, + 2313.1779341681927, + 18.118580207173586 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 2231.4945913865986, + 2315.776010379546, + 18.118580207173586 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 2229.9945913865986, + 2318.374086590899, + 18.118580207173586 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 2228.4945913865986, + 2320.972162802252, + 18.118580207173586 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 2226.9945913865986, + 2323.5702390136053, + 18.118580207173586 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 2225.4945913865986, + 2326.1683152249584, + 18.118580207173586 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 2223.9945913865986, + 2328.7663914363116, + 18.118580207173586 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 2222.4945913865986, + 2331.3644676476647, + 18.118580207173586 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 2220.9945913865986, + 2333.962543859018, + 18.118580207173586 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 2219.4945913865986, + 2336.560620070371, + 18.118580207173586 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 2217.9945913865986, + 2339.158696281724, + 18.118580207173586 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023932237 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2204.0, + 2396.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_17-44-7_737582315/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_17-44-7_737582315/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f1b1251899839501e93807f34c6b2e8ea3656d83 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_17-44-7_737582315/pose.jsonl @@ -0,0 +1,483 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1081.3171976234057, + 2095.013529280205, + 26.973287200974035 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1083.915273834759, + 2096.513529280205, + 26.973287200974035 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1086.5133500461125, + 2098.013529280205, + 26.973287200974035 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1089.1114262574658, + 2099.513529280205, + 26.973287200974035 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1091.7095024688192, + 2101.013529280205, + 26.973287200974035 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1094.3075786801726, + 2102.513529280205, + 26.973287200974035 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1096.905654891526, + 2104.013529280205, + 26.973287200974035 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1099.5037311028793, + 2105.513529280205, + 26.973287200974035 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1102.1018073142327, + 2107.013529280205, + 26.973287200974035 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1104.699883525586, + 2108.513529280205, + 26.973287200974035 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1107.2979597369394, + 2110.013529280205, + 26.973287200974035 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1109.8960359482928, + 2111.513529280205, + 26.973287200974035 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1112.4941121596462, + 2113.013529280205, + 26.973287200974035 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1112.4941121596462, + 2113.013529280205, + 26.973287200974035 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1113.9941121596462, + 2115.6116054915583, + 26.973287200974035 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1115.4941121596462, + 2118.2096817029114, + 26.973287200974035 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1116.9941121596462, + 2120.8077579142646, + 26.973287200974035 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1118.4941121596462, + 2123.4058341256177, + 26.973287200974035 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1119.9941121596462, + 2126.003910336971, + 26.973287200974035 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1121.4941121596462, + 2128.601986548324, + 26.973287200974035 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1122.9941121596462, + 2131.200062759677, + 26.973287200974035 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1124.4941121596462, + 2133.7981389710303, + 26.973287200974035 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1125.9941121596462, + 2136.3962151823835, + 26.973287200974035 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1127.4941121596462, + 2138.9942913937366, + 26.973287200974035 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1128.9941121596462, + 2141.5923676050897, + 26.973287200974035 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1128.9941121596462, + 2141.5923676050897, + 26.973287200974035 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915224 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1131.5921883709996, + 2143.0923676050897, + 26.973287200974035 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1134.190264582353, + 2144.5923676050897, + 26.973287200974035 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1136.7883407937063, + 2146.0923676050897, + 26.973287200974035 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1139.3864170050597, + 2147.5923676050897, + 26.973287200974035 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1141.984493216413, + 2149.0923676050897, + 26.973287200974035 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1144.5825694277664, + 2150.5923676050897, + 26.973287200974035 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1147.1806456391198, + 2152.0923676050897, + 26.973287200974035 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1147.1806456391198, + 2152.0923676050897, + 26.973287200974035 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1148.6806456391198, + 2154.690443816443, + 26.973287200974035 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1150.1806456391198, + 2157.288520027796, + 26.973287200974035 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023932237 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1212.0, + 2212.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_17-46-6_764324635/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_17-46-6_764324635/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5ad3528e92f04df4c537a775be61668f4985c328 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_17-46-6_764324635/pose.jsonl @@ -0,0 +1,405 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 85.66290053459531, + 125.81323045336315, + 18.875016968559127 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 88.66290053459531, + 125.81323045336315, + 18.875016968559127 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 91.66290053459531, + 125.81323045336315, + 18.875016968559127 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 94.66290053459531, + 125.81323045336315, + 18.875016968559127 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 97.66290053459531, + 125.81323045336315, + 18.875016968559127 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 100.66290053459531, + 125.81323045336315, + 18.875016968559127 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 103.66290053459531, + 125.81323045336315, + 18.875016968559127 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 106.66290053459531, + 125.81323045336315, + 18.875016968559127 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 109.66290053459531, + 125.81323045336315, + 18.875016968559127 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 112.66290053459531, + 125.81323045336315, + 18.875016968559127 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 112.66290053459531, + 125.81323045336315, + 18.875016968559127 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 112.66290053459531, + 125.81323045336315, + 18.875016968559127 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 114.16290053459531, + 128.41130666471645, + 18.875016968559127 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965954 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 115.66290053459531, + 131.00938287606976, + 18.875016968559127 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 115.66290053459531, + 131.00938287606976, + 18.875016968559127 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 118.26097674594862, + 132.50938287606976, + 18.875016968559127 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 120.85905295730194, + 134.00938287606976, + 18.875016968559127 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 123.45712916865526, + 135.50938287606976, + 18.875016968559127 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 126.05520538000857, + 137.00938287606976, + 18.875016968559127 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 128.6532815913619, + 138.50938287606976, + 18.875016968559127 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 131.2513578027152, + 140.00938287606976, + 18.875016968559127 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 133.84943401406852, + 141.50938287606976, + 18.875016968559127 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 136.44751022542184, + 143.00938287606976, + 18.875016968559127 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 139.04558643677515, + 144.50938287606976, + 18.875016968559127 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 141.64366264812847, + 146.00938287606976, + 18.875016968559127 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 144.24173885948179, + 147.50938287606976, + 18.875016968559127 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 146.8398150708351, + 149.00938287606976, + 18.875016968559127 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 149.43789128218842, + 150.50938287606976, + 18.875016968559127 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 152.03596749354173, + 152.00938287606976, + 18.875016968559127 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 154.63404370489505, + 153.50938287606976, + 18.875016968559127 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + 192.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_17-5-41_1140858988/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_17-5-41_1140858988/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..42ebfcca8f7b8f9231f67219ee1e008482b9c586 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_17-5-41_1140858988/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2390.3573828992226, + 1405.0154164181076, + 15.53060569773472 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2388.8573828992226, + 1407.613492629461, + 15.53060569773472 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2387.3573828992226, + 1410.2115688408144, + 15.53060569773472 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2385.8573828992226, + 1412.8096450521678, + 15.53060569773472 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2384.3573828992226, + 1415.4077212635211, + 15.53060569773472 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2382.8573828992226, + 1418.0057974748745, + 15.53060569773472 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2381.3573828992226, + 1420.6038736862279, + 15.53060569773472 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2379.8573828992226, + 1423.2019498975812, + 15.53060569773472 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2378.3573828992226, + 1425.8000261089346, + 15.53060569773472 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2376.8573828992226, + 1428.398102320288, + 15.53060569773472 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2375.3573828992226, + 1430.9961785316414, + 15.53060569773472 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2373.8573828992226, + 1433.5942547429947, + 15.53060569773472 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2372.3573828992226, + 1436.192330954348, + 15.53060569773472 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2370.8573828992226, + 1438.7904071657015, + 15.53060569773472 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2369.3573828992226, + 1441.3884833770549, + 15.53060569773472 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2367.8573828992226, + 1443.9865595884082, + 15.53060569773472 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2366.3573828992226, + 1446.5846357997616, + 15.53060569773472 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2364.8573828992226, + 1449.182712011115, + 15.53060569773472 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2363.3573828992226, + 1451.7807882224683, + 15.53060569773472 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2361.8573828992226, + 1454.3788644338217, + 15.53060569773472 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2360.3573828992226, + 1456.976940645175, + 15.53060569773472 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2358.8573828992226, + 1459.5750168565285, + 15.53060569773472 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2357.3573828992226, + 1462.1730930678818, + 15.53060569773472 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2355.8573828992226, + 1464.7711692792352, + 15.53060569773472 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2354.3573828992226, + 1467.3692454905886, + 15.53060569773472 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2352.8573828992226, + 1469.967321701942, + 15.53060569773472 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2351.3573828992226, + 1472.5653979132953, + 15.53060569773472 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2349.8573828992226, + 1475.1634741246487, + 15.53060569773472 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2348.3573828992226, + 1477.761550336002, + 15.53060569773472 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2346.8573828992226, + 1480.3596265473554, + 15.53060569773472 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2345.3573828992226, + 1482.9577027587088, + 15.53060569773472 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2343.8573828992226, + 1485.5557789700622, + 15.53060569773472 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2342.3573828992226, + 1488.1538551814156, + 15.53060569773472 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2340.8573828992226, + 1490.751931392769, + 15.53060569773472 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2339.3573828992226, + 1493.3500076041223, + 15.53060569773472 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -2337.8573828992226, + 1495.9480838154757, + 15.53060569773472 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -2336.3573828992226, + 1498.546160026829, + 15.53060569773472 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -2334.8573828992226, + 1501.1442362381824, + 15.53060569773472 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -2333.3573828992226, + 1503.7423124495358, + 15.53060569773472 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -2331.8573828992226, + 1506.3403886608892, + 15.53060569773472 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -2330.3573828992226, + 1508.9384648722425, + 15.53060569773472 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -2328.8573828992226, + 1511.536541083596, + 15.53060569773472 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -2327.3573828992226, + 1514.1346172949493, + 15.53060569773472 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -2325.8573828992226, + 1516.7326935063027, + 15.53060569773472 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2312.0, + 1544.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_17-50-42_1561783348/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_17-50-42_1561783348/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7c44da3066f2ff7fb380bb2f1609c1287ea2edc8 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_17-50-42_1561783348/pose.jsonl @@ -0,0 +1,418 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3770.878636541212, + 795.3106807228828, + 38.598953301672964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3772.378636541212, + 797.9087569342362, + 38.598953301672964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3773.878636541212, + 800.5068331455896, + 38.598953301672964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3775.378636541212, + 803.1049093569429, + 38.598953301672964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3776.878636541212, + 805.7029855682963, + 38.598953301672964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3778.378636541212, + 808.3010617796497, + 38.598953301672964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3779.878636541212, + 810.899137991003, + 38.598953301672964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3781.378636541212, + 813.4972142023564, + 38.598953301672964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 3782.878636541212, + 816.0952904137098, + 38.598953301672964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 3784.378636541212, + 818.6933666250632, + 38.598953301672964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 3785.878636541212, + 821.2914428364165, + 38.598953301672964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 3787.378636541212, + 823.8895190477699, + 38.598953301672964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 3788.878636541212, + 826.4875952591233, + 38.598953301672964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 3790.378636541212, + 829.0856714704767, + 38.598953301672964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 3791.878636541212, + 831.68374768183, + 38.598953301672964 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 3791.878636541212, + 831.68374768183, + 38.598953301672964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 3791.878636541212, + 834.68374768183, + 38.598953301672964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 3791.878636541212, + 837.68374768183, + 38.598953301672964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 3791.878636541212, + 840.68374768183, + 38.598953301672964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 3791.878636541212, + 843.68374768183, + 38.598953301672964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 3791.878636541212, + 846.68374768183, + 38.598953301672964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 3791.878636541212, + 849.68374768183, + 38.598953301672964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 3791.878636541212, + 852.68374768183, + 38.598953301672964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 3791.878636541212, + 855.68374768183, + 38.598953301672964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 3791.878636541212, + 858.68374768183, + 38.598953301672964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 3791.878636541212, + 861.68374768183, + 38.598953301672964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 3791.878636541212, + 864.68374768183, + 38.598953301672964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 3791.878636541212, + 867.68374768183, + 38.598953301672964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 3791.878636541212, + 870.68374768183, + 38.598953301672964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 3791.878636541212, + 873.68374768183, + 38.598953301672964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 3791.878636541212, + 876.68374768183, + 38.598953301672964 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3812.0, + 940.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_17-51-2_1003497683/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_17-51-2_1003497683/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e8869b98cd8fe18ee59367c969afcdb03c4af60a --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_17-51-2_1003497683/pose.jsonl @@ -0,0 +1,756 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 690.2463405667116, + -578.3240129201424, + 27.34305941391513 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 691.7463405667116, + -575.725936708789, + 27.34305941391513 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 693.2463405667116, + -573.1278604974357, + 27.34305941391513 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 694.7463405667116, + -570.5297842860823, + 27.34305941391513 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 696.2463405667116, + -567.9317080747289, + 27.34305941391513 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 697.7463405667116, + -565.3336318633756, + 27.34305941391513 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 699.2463405667116, + -562.7355556520222, + 27.34305941391513 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 700.7463405667116, + -560.1374794406688, + 27.34305941391513 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 702.2463405667116, + -557.5394032293154, + 27.34305941391513 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 702.2463405667116, + -557.5394032293154, + 27.34305941391513 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 702.2463405667116, + -554.5394032293154, + 27.34305941391513 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 702.2463405667116, + -551.5394032293154, + 27.34305941391513 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 702.2463405667116, + -548.5394032293154, + 27.34305941391513 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 702.2463405667116, + -545.5394032293154, + 27.34305941391513 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 702.2463405667116, + -542.5394032293154, + 27.34305941391513 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 702.2463405667116, + -539.5394032293154, + 27.34305941391513 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 702.2463405667116, + -536.5394032293154, + 27.34305941391513 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 702.2463405667116, + -533.5394032293154, + 27.34305941391513 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 702.2463405667116, + -530.5394032293154, + 27.34305941391513 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 702.2463405667116, + -530.5394032293154, + 27.34305941391513 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 700.7463405667116, + -527.9413270179621, + 27.34305941391513 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 699.2463405667116, + -525.3432508066087, + 27.34305941391513 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 697.7463405667116, + -522.7451745952553, + 27.34305941391513 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 696.2463405667116, + -520.147098383902, + 27.34305941391513 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 694.7463405667116, + -517.5490221725486, + 27.34305941391513 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 693.2463405667116, + -514.9509459611952, + 27.34305941391513 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 691.7463405667116, + -512.3528697498418, + 27.34305941391513 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 690.2463405667116, + -509.7547935384885, + 27.34305941391513 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 688.7463405667116, + -507.1567173271352, + 27.34305941391513 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 687.2463405667116, + -504.5586411157819, + 27.34305941391513 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 685.7463405667116, + -501.96056490442857, + 27.34305941391513 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 684.2463405667116, + -499.36248869307525, + 27.34305941391513 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 682.7463405667116, + -496.76441248172193, + 27.34305941391513 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 681.2463405667116, + -494.1663362703686, + 27.34305941391513 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 679.7463405667116, + -491.5682600590153, + 27.34305941391513 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 678.2463405667116, + -488.970183847662, + 27.34305941391513 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 676.7463405667116, + -486.37210763630867, + 27.34305941391513 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 675.2463405667116, + -483.77403142495535, + 27.34305941391513 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 673.7463405667116, + -481.17595521360204, + 27.34305941391513 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 672.2463405667116, + -478.5778790022487, + 27.34305941391513 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 670.7463405667116, + -475.9798027908954, + 27.34305941391513 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 669.2463405667116, + -473.3817265795421, + 27.34305941391513 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 667.7463405667116, + -470.7836503681888, + 27.34305941391513 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 666.2463405667116, + -468.18557415683546, + 27.34305941391513 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 664.7463405667116, + -465.58749794548214, + 27.34305941391513 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 664.7463405667116, + -465.58749794548214, + 27.34305941391513 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 662.1482643553584, + -464.08749794548214, + 27.34305941391513 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 659.550188144005, + -462.58749794548214, + 27.34305941391513 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 656.9521119326516, + -461.08749794548214, + 27.34305941391513 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 656.9521119326516, + -461.08749794548214, + 27.34305941391513 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 656.9521119326516, + -461.08749794548214, + 27.34305941391513 + ], + "type": "go straight", + "value": 3, + "yaw": 1.570796326794906 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 656.9521119326516, + -458.08749794548214, + 27.34305941391513 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 656.9521119326516, + -455.08749794548214, + 27.34305941391513 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 656.9521119326516, + -452.08749794548214, + 27.34305941391513 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 656.9521119326516, + -449.08749794548214, + 27.34305941391513 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 656.9521119326516, + -446.08749794548214, + 27.34305941391513 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 656.9521119326516, + -443.08749794548214, + 27.34305941391513 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 652.0, + -420.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_17-51-36_821319300/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_17-51-36_821319300/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..59d5d96d11db527261f3a806ddca057e51ae0e2e --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_17-51-36_821319300/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1682.1773230717677, + -1878.309208422946, + 34.727670968499595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1679.1773230717677, + -1878.309208422946, + 34.727670968499595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1676.1773230717677, + -1878.309208422946, + 34.727670968499595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1673.1773230717677, + -1878.309208422946, + 34.727670968499595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1670.1773230717677, + -1878.309208422946, + 34.727670968499595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1667.1773230717677, + -1878.309208422946, + 34.727670968499595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1664.1773230717677, + -1878.309208422946, + 34.727670968499595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1661.1773230717677, + -1878.309208422946, + 34.727670968499595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1658.1773230717677, + -1878.309208422946, + 34.727670968499595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1655.1773230717677, + -1878.309208422946, + 34.727670968499595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1652.1773230717677, + -1878.309208422946, + 34.727670968499595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1649.1773230717677, + -1878.309208422946, + 34.727670968499595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1646.1773230717677, + -1878.309208422946, + 34.727670968499595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1643.1773230717677, + -1878.309208422946, + 34.727670968499595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1640.1773230717677, + -1878.309208422946, + 34.727670968499595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1637.1773230717677, + -1878.309208422946, + 34.727670968499595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1634.1773230717677, + -1878.309208422946, + 34.727670968499595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1631.1773230717677, + -1878.309208422946, + 34.727670968499595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1628.1773230717677, + -1878.309208422946, + 34.727670968499595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1625.1773230717677, + -1878.309208422946, + 34.727670968499595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1622.1773230717677, + -1878.309208422946, + 34.727670968499595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1619.1773230717677, + -1878.309208422946, + 34.727670968499595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1616.1773230717677, + -1878.309208422946, + 34.727670968499595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1613.1773230717677, + -1878.309208422946, + 34.727670968499595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1610.1773230717677, + -1878.309208422946, + 34.727670968499595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1607.1773230717677, + -1878.309208422946, + 34.727670968499595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1604.1773230717677, + -1878.309208422946, + 34.727670968499595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1601.1773230717677, + -1878.309208422946, + 34.727670968499595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1598.1773230717677, + -1878.309208422946, + 34.727670968499595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1595.1773230717677, + -1878.309208422946, + 34.727670968499595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1592.1773230717677, + -1878.309208422946, + 34.727670968499595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1589.1773230717677, + -1878.309208422946, + 34.727670968499595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1586.1773230717677, + -1878.309208422946, + 34.727670968499595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1583.1773230717677, + -1878.309208422946, + 34.727670968499595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1580.1773230717677, + -1878.309208422946, + 34.727670968499595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1577.1773230717677, + -1878.309208422946, + 34.727670968499595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1574.1773230717677, + -1878.309208422946, + 34.727670968499595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1571.1773230717677, + -1878.309208422946, + 34.727670968499595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1568.1773230717677, + -1878.309208422946, + 34.727670968499595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1565.1773230717677, + -1878.309208422946, + 34.727670968499595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1562.1773230717677, + -1878.309208422946, + 34.727670968499595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1559.1773230717677, + -1878.309208422946, + 34.727670968499595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1556.1773230717677, + -1878.309208422946, + 34.727670968499595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1553.1773230717677, + -1878.309208422946, + 34.727670968499595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1550.1773230717677, + -1878.309208422946, + 34.727670968499595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1547.1773230717677, + -1878.309208422946, + 34.727670968499595 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1524.0, + -1876.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_17-52-4_1255035368/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_17-52-4_1255035368/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1388c07468d26294283e5c1453fee2a32542107d --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_17-52-4_1255035368/pose.jsonl @@ -0,0 +1,561 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 521.1728329778227, + -1347.5232580699899, + 28.990208841176486 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 518.5747567664694, + -1349.0232580699899, + 28.990208841176486 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 515.976680555116, + -1350.5232580699899, + 28.990208841176486 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 513.3786043437626, + -1352.0232580699899, + 28.990208841176486 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 510.7805281324093, + -1353.5232580699899, + 28.990208841176486 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 508.182451921056, + -1355.0232580699899, + 28.990208841176486 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 505.58437570970267, + -1356.5232580699899, + 28.990208841176486 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 502.98629949834935, + -1358.0232580699899, + 28.990208841176486 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 500.38822328699604, + -1359.5232580699899, + 28.990208841176486 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 497.7901470756427, + -1361.0232580699899, + 28.990208841176486 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 495.1920708642894, + -1362.5232580699899, + 28.990208841176486 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 492.5939946529361, + -1364.0232580699899, + 28.990208841176486 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 489.9959184415828, + -1365.5232580699899, + 28.990208841176486 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 487.39784223022946, + -1367.0232580699899, + 28.990208841176486 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 484.79976601887614, + -1368.5232580699899, + 28.990208841176486 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 482.2016898075228, + -1370.0232580699899, + 28.990208841176486 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 479.6036135961695, + -1371.5232580699899, + 28.990208841176486 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 477.0055373848162, + -1373.0232580699899, + 28.990208841176486 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 474.4074611734629, + -1374.5232580699899, + 28.990208841176486 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 471.80938496210956, + -1376.0232580699899, + 28.990208841176486 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 469.21130875075625, + -1377.5232580699899, + 28.990208841176486 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 466.61323253940293, + -1379.0232580699899, + 28.990208841176486 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 464.0151563280496, + -1380.5232580699899, + 28.990208841176486 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 461.4170801166963, + -1382.0232580699899, + 28.990208841176486 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 458.819003905343, + -1383.5232580699899, + 28.990208841176486 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 456.22092769398967, + -1385.0232580699899, + 28.990208841176486 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 453.62285148263635, + -1386.5232580699899, + 28.990208841176486 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 451.02477527128303, + -1388.0232580699899, + 28.990208841176486 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 448.4266990599297, + -1389.5232580699899, + 28.990208841176486 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 445.8286228485764, + -1391.0232580699899, + 28.990208841176486 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 443.2305466372231, + -1392.5232580699899, + 28.990208841176486 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 440.63247042586977, + -1394.0232580699899, + 28.990208841176486 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 438.03439421451645, + -1395.5232580699899, + 28.990208841176486 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 435.43631800316314, + -1397.0232580699899, + 28.990208841176486 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 432.8382417918098, + -1398.5232580699899, + 28.990208841176486 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 430.2401655804565, + -1400.0232580699899, + 28.990208841176486 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 427.6420893691032, + -1401.5232580699899, + 28.990208841176486 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 427.6420893691032, + -1401.5232580699899, + 28.990208841176486 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 426.1420893691032, + -1404.1213342813433, + 28.990208841176486 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 424.6420893691032, + -1406.7194104926966, + 28.990208841176486 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 423.1420893691032, + -1409.31748670405, + 28.990208841176486 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 421.6420893691032, + -1411.9155629154034, + 28.990208841176486 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 380.0, + -1436.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_17-55-11_135813159/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_17-55-11_135813159/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..edc32bb570e86f87c1cf7479d292616ffcd7c495 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_17-55-11_135813159/pose.jsonl @@ -0,0 +1,392 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1137.186404275088, + 2479.7062687738676, + 17.650594944123014 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1134.5883280637347, + 2478.2062687738676, + 17.650594944123014 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1131.9902518523813, + 2476.7062687738676, + 17.650594944123014 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1129.392175641028, + 2475.2062687738676, + 17.650594944123014 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1126.7940994296746, + 2473.7062687738676, + 17.650594944123014 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1124.1960232183212, + 2472.2062687738676, + 17.650594944123014 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1121.5979470069678, + 2470.7062687738676, + 17.650594944123014 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1118.9998707956145, + 2469.2062687738676, + 17.650594944123014 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1116.401794584261, + 2467.7062687738676, + 17.650594944123014 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1113.8037183729077, + 2466.2062687738676, + 17.650594944123014 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1111.2056421615544, + 2464.7062687738676, + 17.650594944123014 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1108.607565950201, + 2463.2062687738676, + 17.650594944123014 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1106.0094897388476, + 2461.7062687738676, + 17.650594944123014 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1103.4114135274942, + 2460.2062687738676, + 17.650594944123014 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1100.8133373161409, + 2458.7062687738676, + 17.650594944123014 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1098.2152611047875, + 2457.2062687738676, + 17.650594944123014 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1095.6171848934341, + 2455.7062687738676, + 17.650594944123014 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1093.0191086820807, + 2454.2062687738676, + 17.650594944123014 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1090.4210324707274, + 2452.7062687738676, + 17.650594944123014 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1090.4210324707274, + 2452.7062687738676, + 17.650594944123014 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1087.4210324707274, + 2452.7062687738676, + 17.650594944123014 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1084.4210324707274, + 2452.7062687738676, + 17.650594944123014 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1081.4210324707274, + 2452.7062687738676, + 17.650594944123014 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1078.4210324707274, + 2452.7062687738676, + 17.650594944123014 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1075.4210324707274, + 2452.7062687738676, + 17.650594944123014 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1072.4210324707274, + 2452.7062687738676, + 17.650594944123014 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1069.4210324707274, + 2452.7062687738676, + 17.650594944123014 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1066.4210324707274, + 2452.7062687738676, + 17.650594944123014 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1063.4210324707274, + 2452.7062687738676, + 17.650594944123014 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 996.0, + 2424.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_17-55-31_726764303/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_17-55-31_726764303/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1fcfc7411e0d18de746b5d25144838bc39687ac9 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_17-55-31_726764303/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4045.028627581454, + 15.423071811672799, + 34.906854989516134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4046.528627581454, + 18.021148023026115, + 34.906854989516134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4048.028627581454, + 20.61922423437943, + 34.906854989516134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4049.528627581454, + 23.217300445732747, + 34.906854989516134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4051.028627581454, + 25.815376657086063, + 34.906854989516134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4052.528627581454, + 28.41345286843938, + 34.906854989516134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4054.028627581454, + 31.011529079792695, + 34.906854989516134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4055.528627581454, + 33.60960529114601, + 34.906854989516134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4057.028627581454, + 36.20768150249933, + 34.906854989516134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4058.528627581454, + 38.80575771385264, + 34.906854989516134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4060.028627581454, + 41.40383392520596, + 34.906854989516134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4061.528627581454, + 44.001910136559275, + 34.906854989516134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4063.028627581454, + 46.59998634791259, + 34.906854989516134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4064.528627581454, + 49.19806255926591, + 34.906854989516134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4066.028627581454, + 51.79613877061922, + 34.906854989516134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4067.528627581454, + 54.39421498197254, + 34.906854989516134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 4069.028627581454, + 56.992291193325855, + 34.906854989516134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 4070.528627581454, + 59.59036740467917, + 34.906854989516134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 4072.028627581454, + 62.18844361603249, + 34.906854989516134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 4073.528627581454, + 64.7865198273858, + 34.906854989516134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 4075.028627581454, + 67.38459603873912, + 34.906854989516134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 4076.528627581454, + 69.98267225009243, + 34.906854989516134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 4078.028627581454, + 72.58074846144575, + 34.906854989516134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 4079.528627581454, + 75.17882467279907, + 34.906854989516134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 4081.028627581454, + 77.77690088415238, + 34.906854989516134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 4082.528627581454, + 80.3749770955057, + 34.906854989516134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 4084.028627581454, + 82.97305330685901, + 34.906854989516134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 4085.528627581454, + 85.57112951821233, + 34.906854989516134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 4087.028627581454, + 88.16920572956565, + 34.906854989516134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 4088.528627581454, + 90.76728194091896, + 34.906854989516134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 4090.028627581454, + 93.36535815227228, + 34.906854989516134 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 4090.028627581454, + 93.36535815227228, + 34.906854989516134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 4090.028627581454, + 96.36535815227228, + 34.906854989516134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 4090.028627581454, + 99.36535815227228, + 34.906854989516134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 4090.028627581454, + 102.36535815227228, + 34.906854989516134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 4090.028627581454, + 105.36535815227228, + 34.906854989516134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 4090.028627581454, + 108.36535815227228, + 34.906854989516134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 4090.028627581454, + 111.36535815227228, + 34.906854989516134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 4090.028627581454, + 114.36535815227228, + 34.906854989516134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 4090.028627581454, + 117.36535815227228, + 34.906854989516134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 4090.028627581454, + 120.36535815227228, + 34.906854989516134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 4090.028627581454, + 123.36535815227228, + 34.906854989516134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 4090.028627581454, + 126.36535815227228, + 34.906854989516134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 4090.028627581454, + 129.36535815227228, + 34.906854989516134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 4090.028627581454, + 132.36535815227228, + 34.906854989516134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 4090.028627581454, + 135.36535815227228, + 34.906854989516134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 4090.028627581454, + 138.36535815227228, + 34.906854989516134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 4090.028627581454, + 141.36535815227228, + 34.906854989516134 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4100.0, + 172.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_17-6-44_1426869906/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_17-6-44_1426869906/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..aa89884b4753f57f9103fa8918780c99cf7c0006 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_17-6-44_1426869906/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4578.644593718394, + -474.7685856320636, + 19.178973015935096 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4578.644593718394, + -471.7685856320636, + 19.178973015935096 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4578.644593718394, + -468.7685856320636, + 19.178973015935096 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4578.644593718394, + -468.7685856320636, + 19.178973015935096 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4580.144593718394, + -466.1705094207103, + 19.178973015935096 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4581.644593718394, + -463.572433209357, + 19.178973015935096 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4581.644593718394, + -463.572433209357, + 19.178973015935096 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4584.2426699297475, + -462.072433209357, + 19.178973015935096 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4586.840746141101, + -460.572433209357, + 19.178973015935096 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4589.438822352454, + -459.072433209357, + 19.178973015935096 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4592.036898563807, + -457.572433209357, + 19.178973015935096 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4594.63497477516, + -456.072433209357, + 19.178973015935096 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4594.63497477516, + -456.072433209357, + 19.178973015935096 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196626 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4596.13497477516, + -453.47435699800366, + 19.178973015935096 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4596.13497477516, + -453.47435699800366, + 19.178973015935096 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4596.13497477516, + -450.47435699800366, + 19.178973015935096 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 4596.13497477516, + -447.47435699800366, + 19.178973015935096 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 4596.13497477516, + -444.47435699800366, + 19.178973015935096 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 4596.13497477516, + -441.47435699800366, + 19.178973015935096 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 4596.13497477516, + -438.47435699800366, + 19.178973015935096 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 4596.13497477516, + -435.47435699800366, + 19.178973015935096 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 4596.13497477516, + -432.47435699800366, + 19.178973015935096 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 4596.13497477516, + -429.47435699800366, + 19.178973015935096 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 4596.13497477516, + -426.47435699800366, + 19.178973015935096 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 4596.13497477516, + -423.47435699800366, + 19.178973015935096 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 4596.13497477516, + -420.47435699800366, + 19.178973015935096 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 4596.13497477516, + -417.47435699800366, + 19.178973015935096 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 4596.13497477516, + -414.47435699800366, + 19.178973015935096 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 4596.13497477516, + -411.47435699800366, + 19.178973015935096 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 4596.13497477516, + -408.47435699800366, + 19.178973015935096 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 4596.13497477516, + -405.47435699800366, + 19.178973015935096 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 4596.13497477516, + -405.47435699800366, + 19.178973015935096 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 4596.13497477516, + -405.47435699800366, + 19.178973015935096 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 4593.536898563807, + -403.97435699800366, + 19.178973015935096 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 4590.938822352454, + -402.47435699800366, + 19.178973015935096 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 4588.340746141101, + -400.97435699800366, + 19.178973015935096 + ], + "type": "turn right", + "value": 30, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 4588.340746141101, + -400.97435699800366, + 19.178973015935096 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931673 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 4586.840746141101, + -398.37628078665034, + 19.178973015935096 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 4585.340746141101, + -395.778204575297, + 19.178973015935096 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 4583.840746141101, + -393.1801283639437, + 19.178973015935096 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 4582.340746141101, + -390.5820521525904, + 19.178973015935096 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 4580.840746141101, + -387.9839759412371, + 19.178973015935096 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 4579.340746141101, + -385.38589972988376, + 19.178973015935096 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 4577.840746141101, + -382.78782351853044, + 19.178973015935096 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 4576.340746141101, + -380.18974730717713, + 19.178973015935096 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 4574.840746141101, + -377.5916710958238, + 19.178973015935096 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 4573.340746141101, + -374.9935948844705, + 19.178973015935096 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 4571.840746141101, + -372.3955186731172, + 19.178973015935096 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 4570.340746141101, + -369.79744246176386, + 19.178973015935096 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 4568.840746141101, + -367.19936625041055, + 19.178973015935096 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 4567.340746141101, + -364.60129003905723, + 19.178973015935096 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 4565.840746141101, + -362.0032138277039, + 19.178973015935096 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 4564.340746141101, + -359.4051376163506, + 19.178973015935096 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4560.0, + -308.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_17-9-59_1218200987/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_17-9-59_1218200987/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2e5a8ee88036e4ca61914e2be37aabca99cd7397 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_17-9-59_1218200987/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1329.1866306770914, + -680.5639055423845, + 20.57089475326191 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1330.6866306770914, + -677.9658293310313, + 20.57089475326191 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1332.1866306770914, + -675.3677531196779, + 20.57089475326191 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1333.6866306770914, + -672.7696769083245, + 20.57089475326191 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1335.1866306770914, + -670.1716006969712, + 20.57089475326191 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1336.6866306770914, + -667.5735244856178, + 20.57089475326191 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1338.1866306770914, + -664.9754482742644, + 20.57089475326191 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1339.6866306770914, + -662.377372062911, + 20.57089475326191 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1341.1866306770914, + -659.7792958515577, + 20.57089475326191 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1342.6866306770914, + -657.1812196402043, + 20.57089475326191 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1344.1866306770914, + -654.5831434288509, + 20.57089475326191 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1345.6866306770914, + -651.9850672174975, + 20.57089475326191 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1347.1866306770914, + -649.3869910061442, + 20.57089475326191 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1348.6866306770914, + -646.7889147947908, + 20.57089475326191 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1350.1866306770914, + -644.1908385834374, + 20.57089475326191 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1351.6866306770914, + -641.592762372084, + 20.57089475326191 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1353.1866306770914, + -638.9946861607307, + 20.57089475326191 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1354.6866306770914, + -636.3966099493773, + 20.57089475326191 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1356.1866306770914, + -633.7985337380239, + 20.57089475326191 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1357.6866306770914, + -631.2004575266706, + 20.57089475326191 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1359.1866306770914, + -628.6023813153172, + 20.57089475326191 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1360.6866306770914, + -626.0043051039638, + 20.57089475326191 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1362.1866306770914, + -623.4062288926104, + 20.57089475326191 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1363.6866306770914, + -620.8081526812571, + 20.57089475326191 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1365.1866306770914, + -618.2100764699037, + 20.57089475326191 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1366.6866306770914, + -615.6120002585503, + 20.57089475326191 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1368.1866306770914, + -613.013924047197, + 20.57089475326191 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1369.6866306770914, + -610.4158478358436, + 20.57089475326191 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1371.1866306770914, + -607.8177716244902, + 20.57089475326191 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1372.6866306770914, + -605.2196954131368, + 20.57089475326191 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1374.1866306770914, + -602.6216192017835, + 20.57089475326191 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1375.6866306770914, + -600.0235429904301, + 20.57089475326191 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1377.1866306770914, + -597.4254667790767, + 20.57089475326191 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1378.6866306770914, + -594.8273905677233, + 20.57089475326191 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1380.1866306770914, + -592.22931435637, + 20.57089475326191 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1380.1866306770914, + -592.22931435637, + 20.57089475326191 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1380.1866306770914, + -589.22931435637, + 20.57089475326191 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1380.1866306770914, + -586.22931435637, + 20.57089475326191 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1380.1866306770914, + -583.22931435637, + 20.57089475326191 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1380.1866306770914, + -580.22931435637, + 20.57089475326191 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1380.1866306770914, + -577.22931435637, + 20.57089475326191 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1380.1866306770914, + -574.22931435637, + 20.57089475326191 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1380.1866306770914, + -571.22931435637, + 20.57089475326191 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1380.1866306770914, + -568.22931435637, + 20.57089475326191 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1380.1866306770914, + -565.22931435637, + 20.57089475326191 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1380.1866306770914, + -562.22931435637, + 20.57089475326191 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1380.1866306770914, + -559.22931435637, + 20.57089475326191 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1380.1866306770914, + -556.22931435637, + 20.57089475326191 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1380.1866306770914, + -553.22931435637, + 20.57089475326191 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1380.1866306770914, + -550.22931435637, + 20.57089475326191 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -1380.1866306770914, + -547.22931435637, + 20.57089475326191 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -1380.1866306770914, + -544.22931435637, + 20.57089475326191 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -1380.1866306770914, + -541.22931435637, + 20.57089475326191 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1388.0, + -516.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_18-1-25_1631418417/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_18-1-25_1631418417/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f04d18983163bddf65f43267712d801e00a438d6 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_18-1-25_1631418417/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1989.2090846715419, + 920.9052248337595, + 33.908372672945674 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1990.7090846715419, + 918.3071486224062, + 33.908372672945674 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1992.2090846715419, + 915.7090724110528, + 33.908372672945674 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1993.7090846715419, + 913.1109961996995, + 33.908372672945674 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1995.2090846715419, + 910.5129199883461, + 33.908372672945674 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1995.2090846715419, + 910.5129199883461, + 33.908372672945674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1995.2090846715419, + 907.5129199883461, + 33.908372672945674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1995.2090846715419, + 904.5129199883461, + 33.908372672945674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1995.2090846715419, + 901.5129199883461, + 33.908372672945674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1995.2090846715419, + 898.5129199883461, + 33.908372672945674 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1995.2090846715419, + 898.5129199883461, + 33.908372672945674 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1996.7090846715419, + 895.9148437769927, + 33.908372672945674 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1998.2090846715419, + 893.3167675656393, + 33.908372672945674 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1999.7090846715419, + 890.718691354286, + 33.908372672945674 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2001.2090846715419, + 888.1206151429326, + 33.908372672945674 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2002.7090846715419, + 885.5225389315792, + 33.908372672945674 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2004.2090846715419, + 882.9244627202258, + 33.908372672945674 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2005.7090846715419, + 880.3263865088725, + 33.908372672945674 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2007.2090846715419, + 877.7283102975191, + 33.908372672945674 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2008.7090846715419, + 875.1302340861657, + 33.908372672945674 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2010.2090846715419, + 872.5321578748124, + 33.908372672945674 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2011.7090846715419, + 869.934081663459, + 33.908372672945674 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2013.2090846715419, + 867.3360054521056, + 33.908372672945674 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2014.7090846715419, + 864.7379292407522, + 33.908372672945674 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2016.2090846715419, + 862.1398530293989, + 33.908372672945674 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2017.7090846715419, + 859.5417768180455, + 33.908372672945674 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2019.2090846715419, + 856.9437006066921, + 33.908372672945674 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2020.7090846715419, + 854.3456243953387, + 33.908372672945674 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2022.2090846715419, + 851.7475481839854, + 33.908372672945674 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2023.7090846715419, + 849.149471972632, + 33.908372672945674 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2025.2090846715419, + 846.5513957612786, + 33.908372672945674 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2026.7090846715419, + 843.9533195499253, + 33.908372672945674 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2028.2090846715419, + 841.3552433385719, + 33.908372672945674 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2028.2090846715419, + 841.3552433385719, + 33.908372672945674 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2030.8071608828952, + 839.8552433385719, + 33.908372672945674 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -2033.4052370942486, + 838.3552433385719, + 33.908372672945674 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -2036.003313305602, + 836.8552433385719, + 33.908372672945674 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -2038.6013895169554, + 835.3552433385719, + 33.908372672945674 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -2041.1994657283087, + 833.8552433385719, + 33.908372672945674 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -2043.797541939662, + 832.3552433385719, + 33.908372672945674 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -2046.3956181510155, + 830.8552433385719, + 33.908372672945674 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -2048.993694362369, + 829.3552433385719, + 33.908372672945674 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -2051.591770573722, + 827.8552433385719, + 33.908372672945674 + ], + "type": "turn left", + "value": 30, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -2051.591770573722, + 827.8552433385719, + 33.908372672945674 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931673 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -2053.091770573722, + 825.2571671272185, + 33.908372672945674 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -2054.591770573722, + 822.6590909158651, + 33.908372672945674 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -2056.091770573722, + 820.0610147045118, + 33.908372672945674 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -2057.591770573722, + 817.4629384931584, + 33.908372672945674 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -2059.091770573722, + 814.864862281805, + 33.908372672945674 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -2060.591770573722, + 812.2667860704516, + 33.908372672945674 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2080.0, + 784.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_18-10-30_978610417/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_18-10-30_978610417/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b1fd02029964714e1a450c25baaa2c611ee27d12 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_18-10-30_978610417/pose.jsonl @@ -0,0 +1,366 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1046.1446730813038, + 1539.440575537828, + 22.67049521389327 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1044.6446730813038, + 1536.8424993264746, + 22.67049521389327 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1043.1446730813038, + 1534.2444231151212, + 22.67049521389327 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1041.6446730813038, + 1531.6463469037678, + 22.67049521389327 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1040.1446730813038, + 1529.0482706924145, + 22.67049521389327 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1038.6446730813038, + 1526.450194481061, + 22.67049521389327 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1037.1446730813038, + 1523.8521182697077, + 22.67049521389327 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1035.6446730813038, + 1521.2540420583543, + 22.67049521389327 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1034.1446730813038, + 1518.655965847001, + 22.67049521389327 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1032.6446730813038, + 1516.0578896356476, + 22.67049521389327 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1031.1446730813038, + 1513.4598134242942, + 22.67049521389327 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1031.1446730813038, + 1513.4598134242942, + 22.67049521389327 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1031.1446730813038, + 1510.4598134242942, + 22.67049521389327 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1031.1446730813038, + 1507.4598134242942, + 22.67049521389327 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1031.1446730813038, + 1504.4598134242942, + 22.67049521389327 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1031.1446730813038, + 1501.4598134242942, + 22.67049521389327 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1031.1446730813038, + 1498.4598134242942, + 22.67049521389327 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1031.1446730813038, + 1495.4598134242942, + 22.67049521389327 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1031.1446730813038, + 1492.4598134242942, + 22.67049521389327 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1031.1446730813038, + 1489.4598134242942, + 22.67049521389327 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1031.1446730813038, + 1489.4598134242942, + 22.67049521389327 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1031.1446730813038, + 1489.4598134242942, + 22.67049521389327 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1028.5465968699505, + 1487.9598134242942, + 22.67049521389327 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1025.948520658597, + 1486.4598134242942, + 22.67049521389327 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1025.948520658597, + 1486.4598134242942, + 22.67049521389327 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1024.448520658597, + 1483.8617372129409, + 22.67049521389327 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1022.9485206585971, + 1481.2636610015875, + 22.67049521389327 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 988.0, + 1392.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_18-12-54_1776544874/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_18-12-54_1776544874/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..98ed909609ffcb186872a76b9d7d60190ceca353 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_18-12-54_1776544874/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3184.062522445793, + 331.2653459706413, + 27.465887824675452 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3182.562522445793, + 328.667269759288, + 27.465887824675452 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3181.062522445793, + 326.0691935479347, + 27.465887824675452 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3179.562522445793, + 323.47111733658136, + 27.465887824675452 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3178.062522445793, + 320.87304112522804, + 27.465887824675452 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3176.562522445793, + 318.2749649138747, + 27.465887824675452 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3175.062522445793, + 315.6768887025214, + 27.465887824675452 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3173.562522445793, + 313.0788124911681, + 27.465887824675452 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 3172.062522445793, + 310.4807362798148, + 27.465887824675452 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 3170.562522445793, + 307.88266006846146, + 27.465887824675452 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 3169.062522445793, + 305.28458385710815, + 27.465887824675452 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 3167.562522445793, + 302.68650764575483, + 27.465887824675452 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 3167.562522445793, + 302.68650764575483, + 27.465887824675452 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 3167.562522445793, + 299.68650764575483, + 27.465887824675452 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 3167.562522445793, + 296.68650764575483, + 27.465887824675452 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 3167.562522445793, + 293.68650764575483, + 27.465887824675452 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 3167.562522445793, + 290.68650764575483, + 27.465887824675452 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 3167.562522445793, + 287.68650764575483, + 27.465887824675452 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 3167.562522445793, + 284.68650764575483, + 27.465887824675452 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 3167.562522445793, + 281.68650764575483, + 27.465887824675452 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 3167.562522445793, + 278.68650764575483, + 27.465887824675452 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 3167.562522445793, + 275.68650764575483, + 27.465887824675452 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 3167.562522445793, + 272.68650764575483, + 27.465887824675452 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 3167.562522445793, + 269.68650764575483, + 27.465887824675452 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 3167.562522445793, + 266.68650764575483, + 27.465887824675452 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 3167.562522445793, + 263.68650764575483, + 27.465887824675452 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 3167.562522445793, + 260.68650764575483, + 27.465887824675452 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 3167.562522445793, + 257.68650764575483, + 27.465887824675452 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 3167.562522445793, + 254.68650764575483, + 27.465887824675452 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 3167.562522445793, + 251.68650764575483, + 27.465887824675452 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 3167.562522445793, + 248.68650764575483, + 27.465887824675452 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 3167.562522445793, + 245.68650764575483, + 27.465887824675452 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 3167.562522445793, + 242.68650764575483, + 27.465887824675452 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 3167.562522445793, + 239.68650764575483, + 27.465887824675452 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 3167.562522445793, + 236.68650764575483, + 27.465887824675452 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 3167.562522445793, + 233.68650764575483, + 27.465887824675452 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 3167.562522445793, + 233.68650764575483, + 27.465887824675452 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 3166.062522445793, + 231.0884314344015, + 27.465887824675452 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 3164.562522445793, + 228.4903552230482, + 27.465887824675452 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 3163.062522445793, + 225.89227901169488, + 27.465887824675452 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 3161.562522445793, + 223.29420280034157, + 27.465887824675452 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 3160.062522445793, + 220.69612658898825, + 27.465887824675452 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 3158.562522445793, + 218.09805037763493, + 27.465887824675452 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 3157.062522445793, + 215.49997416628162, + 27.465887824675452 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 3155.562522445793, + 212.9018979549283, + 27.465887824675452 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 3154.062522445793, + 210.30382174357499, + 27.465887824675452 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 3152.562522445793, + 207.70574553222167, + 27.465887824675452 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 3151.062522445793, + 205.10766932086835, + 27.465887824675452 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 3149.562522445793, + 202.50959310951504, + 27.465887824675452 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 3148.062522445793, + 199.91151689816172, + 27.465887824675452 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 3146.562522445793, + 197.3134406868084, + 27.465887824675452 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 3145.062522445793, + 194.7153644754551, + 27.465887824675452 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 3143.562522445793, + 192.11728826410177, + 27.465887824675452 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 3142.062522445793, + 189.51921205274846, + 27.465887824675452 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 3140.562522445793, + 186.92113584139514, + 27.465887824675452 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3136.0, + 168.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_18-13-24_1450967523/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_18-13-24_1450967523/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f4bd2b8e13bfc8fa151400f34d36954c2c65bc66 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_18-13-24_1450967523/pose.jsonl @@ -0,0 +1,119 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3597.8766287221556, + -2043.7547411828668, + 30.71140847746809 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3596.3766287221556, + -2041.1566649715135, + 30.71140847746809 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3594.8766287221556, + -2038.55858876016, + 30.71140847746809 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3593.3766287221556, + -2035.9605125488067, + 30.71140847746809 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3593.3766287221556, + -2035.9605125488067, + 30.71140847746809 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3593.3766287221556, + -2032.9605125488067, + 30.71140847746809 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3593.3766287221556, + -2029.9605125488067, + 30.71140847746809 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3593.3766287221556, + -2026.9605125488067, + 30.71140847746809 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3544.0, + -1876.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_18-14-13_1979575260/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_18-14-13_1979575260/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8913a329ad679c391c2cd0341bb28c4a75803862 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_18-14-13_1979575260/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2340.3478653208704, + -2185.5218351386907, + 25.200941884253275 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2338.8478653208704, + -2182.9237589273375, + 25.200941884253275 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2337.3478653208704, + -2180.3256827159844, + 25.200941884253275 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2335.8478653208704, + -2177.7276065046312, + 25.200941884253275 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2334.3478653208704, + -2175.129530293278, + 25.200941884253275 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2332.8478653208704, + -2172.531454081925, + 25.200941884253275 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2331.3478653208704, + -2169.933377870572, + 25.200941884253275 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2329.8478653208704, + -2167.3353016592187, + 25.200941884253275 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2328.3478653208704, + -2164.7372254478655, + 25.200941884253275 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 2326.8478653208704, + -2162.1391492365124, + 25.200941884253275 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2325.3478653208704, + -2159.541073025159, + 25.200941884253275 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2323.8478653208704, + -2156.942996813806, + 25.200941884253275 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 2322.3478653208704, + -2154.344920602453, + 25.200941884253275 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 2320.8478653208704, + -2151.7468443911, + 25.200941884253275 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 2319.3478653208704, + -2149.1487681797466, + 25.200941884253275 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 2317.8478653208704, + -2146.5506919683935, + 25.200941884253275 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 2316.3478653208704, + -2143.9526157570403, + 25.200941884253275 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 2314.8478653208704, + -2141.354539545687, + 25.200941884253275 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 2313.3478653208704, + -2138.756463334334, + 25.200941884253275 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 2311.8478653208704, + -2136.158387122981, + 25.200941884253275 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 2310.3478653208704, + -2133.5603109116278, + 25.200941884253275 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 2308.8478653208704, + -2130.9622347002746, + 25.200941884253275 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 2307.3478653208704, + -2128.3641584889215, + 25.200941884253275 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 2305.8478653208704, + -2125.7660822775683, + 25.200941884253275 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 2304.3478653208704, + -2123.168006066215, + 25.200941884253275 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 2302.8478653208704, + -2120.569929854862, + 25.200941884253275 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 2301.3478653208704, + -2117.971853643509, + 25.200941884253275 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 2299.8478653208704, + -2115.3737774321557, + 25.200941884253275 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 2298.3478653208704, + -2112.7757012208026, + 25.200941884253275 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 2296.8478653208704, + -2110.1776250094495, + 25.200941884253275 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 2296.8478653208704, + -2110.1776250094495, + 25.200941884253275 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915224 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 2294.249789109517, + -2108.6776250094495, + 25.200941884253275 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 2291.651712898164, + -2107.1776250094495, + 25.200941884253275 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 2289.053636686811, + -2105.6776250094495, + 25.200941884253275 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 2286.455560475458, + -2104.1776250094495, + 25.200941884253275 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 2283.8574842641046, + -2102.6776250094495, + 25.200941884253275 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 2281.2594080527515, + -2101.1776250094495, + 25.200941884253275 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 2278.6613318413984, + -2099.6776250094495, + 25.200941884253275 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 2276.063255630045, + -2098.1776250094495, + 25.200941884253275 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 2273.465179418692, + -2096.6776250094495, + 25.200941884253275 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 2270.867103207339, + -2095.1776250094495, + 25.200941884253275 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 2268.2690269959858, + -2093.6776250094495, + 25.200941884253275 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 2265.6709507846326, + -2092.1776250094495, + 25.200941884253275 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 2263.0728745732795, + -2090.6776250094495, + 25.200941884253275 + ], + "type": "stop", + "value": 0, + "yaw": 2.617993877991466 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2240.0, + -2060.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_18-17-53_990217934/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_18-17-53_990217934/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d39f4b0c3778a52c4c37ba11477a9524ee34796a --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_18-17-53_990217934/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 77.90990851710208, + 1859.7407204770402, + 29.015688503065004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 79.40990851710208, + 1862.3387966883936, + 29.015688503065004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 80.90990851710208, + 1864.936872899747, + 29.015688503065004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 82.40990851710208, + 1867.5349491111003, + 29.015688503065004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 83.90990851710208, + 1870.1330253224537, + 29.015688503065004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 85.40990851710208, + 1872.731101533807, + 29.015688503065004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 86.90990851710208, + 1875.3291777451605, + 29.015688503065004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 88.40990851710208, + 1877.9272539565138, + 29.015688503065004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 89.90990851710208, + 1880.5253301678672, + 29.015688503065004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 91.40990851710208, + 1883.1234063792206, + 29.015688503065004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 92.90990851710208, + 1885.721482590574, + 29.015688503065004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 94.40990851710208, + 1888.3195588019273, + 29.015688503065004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 95.90990851710208, + 1890.9176350132807, + 29.015688503065004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 97.40990851710208, + 1893.515711224634, + 29.015688503065004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 98.90990851710208, + 1896.1137874359874, + 29.015688503065004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 100.40990851710208, + 1898.7118636473408, + 29.015688503065004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 101.90990851710208, + 1901.3099398586942, + 29.015688503065004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 103.40990851710208, + 1903.9080160700476, + 29.015688503065004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 104.90990851710208, + 1906.506092281401, + 29.015688503065004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 106.40990851710208, + 1909.1041684927543, + 29.015688503065004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 107.90990851710208, + 1911.7022447041077, + 29.015688503065004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 109.40990851710208, + 1914.300320915461, + 29.015688503065004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 110.90990851710208, + 1916.8983971268144, + 29.015688503065004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 112.40990851710208, + 1919.4964733381678, + 29.015688503065004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 113.90990851710208, + 1922.0945495495212, + 29.015688503065004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 115.40990851710208, + 1924.6926257608745, + 29.015688503065004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 116.90990851710208, + 1927.290701972228, + 29.015688503065004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 118.40990851710208, + 1929.8887781835813, + 29.015688503065004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 119.90990851710208, + 1932.4868543949347, + 29.015688503065004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 121.40990851710208, + 1935.084930606288, + 29.015688503065004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 122.90990851710208, + 1937.6830068176414, + 29.015688503065004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 124.40990851710208, + 1940.2810830289948, + 29.015688503065004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 125.90990851710208, + 1942.8791592403481, + 29.015688503065004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 127.40990851710208, + 1945.4772354517015, + 29.015688503065004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 128.90990851710208, + 1948.075311663055, + 29.015688503065004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 130.40990851710208, + 1950.6733878744083, + 29.015688503065004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 131.90990851710208, + 1953.2714640857616, + 29.015688503065004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 133.40990851710208, + 1955.869540297115, + 29.015688503065004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 133.40990851710208, + 1955.869540297115, + 29.015688503065004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 136.0079847284554, + 1957.369540297115, + 29.015688503065004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 138.6060609398087, + 1958.869540297115, + 29.015688503065004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 141.20413715116203, + 1960.369540297115, + 29.015688503065004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 143.80221336251535, + 1961.869540297115, + 29.015688503065004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 146.40028957386866, + 1963.369540297115, + 29.015688503065004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 148.99836578522198, + 1964.869540297115, + 29.015688503065004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 151.5964419965753, + 1966.369540297115, + 29.015688503065004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 154.1945182079286, + 1967.869540297115, + 29.015688503065004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 156.79259441928193, + 1969.369540297115, + 29.015688503065004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 159.39067063063524, + 1970.869540297115, + 29.015688503065004 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 180.0, + 1996.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_18-18-23_104451352/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_18-18-23_104451352/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..be7d97234826402bfab7f3915202143c082f6cc8 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_18-18-23_104451352/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1900.2709892399257, + -496.80771788699116, + 38.37515838082841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1901.7709892399257, + -499.4057940983445, + 38.37515838082841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1903.2709892399257, + -502.0038703096978, + 38.37515838082841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1904.7709892399257, + -504.6019465210511, + 38.37515838082841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1906.2709892399257, + -507.2000227324044, + 38.37515838082841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1907.7709892399257, + -509.79809894375774, + 38.37515838082841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1909.2709892399257, + -512.396175155111, + 38.37515838082841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1910.7709892399257, + -514.9942513664644, + 38.37515838082841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1912.2709892399257, + -517.5923275778177, + 38.37515838082841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1913.7709892399257, + -520.1904037891711, + 38.37515838082841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1915.2709892399257, + -522.7884800005245, + 38.37515838082841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1916.7709892399257, + -525.3865562118779, + 38.37515838082841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1918.2709892399257, + -527.9846324232312, + 38.37515838082841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1919.7709892399257, + -530.5827086345846, + 38.37515838082841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1921.2709892399257, + -533.180784845938, + 38.37515838082841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1922.7709892399257, + -535.7788610572914, + 38.37515838082841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1924.2709892399257, + -538.3769372686447, + 38.37515838082841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1925.7709892399257, + -540.9750134799981, + 38.37515838082841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1927.2709892399257, + -543.5730896913515, + 38.37515838082841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1928.7709892399257, + -546.1711659027048, + 38.37515838082841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1930.2709892399257, + -548.7692421140582, + 38.37515838082841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1931.7709892399257, + -551.3673183254116, + 38.37515838082841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1933.2709892399257, + -553.965394536765, + 38.37515838082841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1934.7709892399257, + -556.5634707481183, + 38.37515838082841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1936.2709892399257, + -559.1615469594717, + 38.37515838082841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1937.7709892399257, + -561.7596231708251, + 38.37515838082841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1939.2709892399257, + -564.3576993821785, + 38.37515838082841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1940.7709892399257, + -566.9557755935318, + 38.37515838082841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1942.2709892399257, + -569.5538518048852, + 38.37515838082841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1943.7709892399257, + -572.1519280162386, + 38.37515838082841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1945.2709892399257, + -574.750004227592, + 38.37515838082841 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1945.2709892399257, + -574.750004227592, + 38.37515838082841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1945.2709892399257, + -577.750004227592, + 38.37515838082841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1945.2709892399257, + -580.750004227592, + 38.37515838082841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1945.2709892399257, + -583.750004227592, + 38.37515838082841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1945.2709892399257, + -586.750004227592, + 38.37515838082841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1945.2709892399257, + -589.750004227592, + 38.37515838082841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1945.2709892399257, + -592.750004227592, + 38.37515838082841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1945.2709892399257, + -595.750004227592, + 38.37515838082841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1945.2709892399257, + -598.750004227592, + 38.37515838082841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1945.2709892399257, + -601.750004227592, + 38.37515838082841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1945.2709892399257, + -604.750004227592, + 38.37515838082841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1945.2709892399257, + -607.750004227592, + 38.37515838082841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1945.2709892399257, + -610.750004227592, + 38.37515838082841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1945.2709892399257, + -613.750004227592, + 38.37515838082841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1945.2709892399257, + -616.750004227592, + 38.37515838082841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1945.2709892399257, + -619.750004227592, + 38.37515838082841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1945.2709892399257, + -622.750004227592, + 38.37515838082841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1945.2709892399257, + -625.750004227592, + 38.37515838082841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1945.2709892399257, + -628.750004227592, + 38.37515838082841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1945.2709892399257, + -631.750004227592, + 38.37515838082841 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1952.0, + -648.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_18-20-35_1434895504/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_18-20-35_1434895504/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3f7851ed454ad98b062e74a423bc4fab5f6c7b09 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_18-20-35_1434895504/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2729.8155002434796, + 1010.5819803776636, + 27.62131479033782 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2728.3155002434796, + 1013.1800565890169, + 27.62131479033782 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2726.8155002434796, + 1015.7781328003703, + 27.62131479033782 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2725.3155002434796, + 1018.3762090117236, + 27.62131479033782 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2723.8155002434796, + 1020.974285223077, + 27.62131479033782 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2722.3155002434796, + 1023.5723614344304, + 27.62131479033782 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2720.8155002434796, + 1026.1704376457837, + 27.62131479033782 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2719.3155002434796, + 1028.7685138571371, + 27.62131479033782 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2717.8155002434796, + 1031.3665900684905, + 27.62131479033782 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2716.3155002434796, + 1033.9646662798439, + 27.62131479033782 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2714.8155002434796, + 1036.5627424911972, + 27.62131479033782 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2713.3155002434796, + 1039.1608187025506, + 27.62131479033782 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2711.8155002434796, + 1041.758894913904, + 27.62131479033782 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2710.3155002434796, + 1044.3569711252574, + 27.62131479033782 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2708.8155002434796, + 1046.9550473366107, + 27.62131479033782 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2707.3155002434796, + 1049.553123547964, + 27.62131479033782 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2705.8155002434796, + 1052.1511997593175, + 27.62131479033782 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2704.3155002434796, + 1054.7492759706709, + 27.62131479033782 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2702.8155002434796, + 1057.3473521820242, + 27.62131479033782 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2701.3155002434796, + 1059.9454283933776, + 27.62131479033782 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2699.8155002434796, + 1062.543504604731, + 27.62131479033782 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2698.3155002434796, + 1065.1415808160843, + 27.62131479033782 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2696.8155002434796, + 1067.7396570274377, + 27.62131479033782 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2695.3155002434796, + 1070.337733238791, + 27.62131479033782 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2693.8155002434796, + 1072.9358094501445, + 27.62131479033782 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2692.3155002434796, + 1075.5338856614978, + 27.62131479033782 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2690.8155002434796, + 1078.1319618728512, + 27.62131479033782 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2689.3155002434796, + 1080.7300380842046, + 27.62131479033782 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2687.8155002434796, + 1083.328114295558, + 27.62131479033782 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2687.8155002434796, + 1083.328114295558, + 27.62131479033782 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2685.2174240321265, + 1084.828114295558, + 27.62131479033782 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2682.6193478207733, + 1086.328114295558, + 27.62131479033782 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2680.02127160942, + 1087.828114295558, + 27.62131479033782 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2677.423195398067, + 1089.328114295558, + 27.62131479033782 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2674.825119186714, + 1090.828114295558, + 27.62131479033782 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -2672.2270429753607, + 1092.328114295558, + 27.62131479033782 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -2669.6289667640076, + 1093.828114295558, + 27.62131479033782 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -2667.0308905526545, + 1095.328114295558, + 27.62131479033782 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -2664.4328143413013, + 1096.828114295558, + 27.62131479033782 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -2661.834738129948, + 1098.328114295558, + 27.62131479033782 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -2659.236661918595, + 1099.828114295558, + 27.62131479033782 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -2656.638585707242, + 1101.328114295558, + 27.62131479033782 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -2654.0405094958887, + 1102.828114295558, + 27.62131479033782 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -2651.4424332845356, + 1104.328114295558, + 27.62131479033782 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -2648.8443570731824, + 1105.828114295558, + 27.62131479033782 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755983272 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2620.0, + 1144.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_18-24-25_991901004/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_18-24-25_991901004/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3b9a7219ac9a5a4f143eba6669a145a5011c636d --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_18-24-25_991901004/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 59.28626574425731, + -2125.9645563970644, + 22.572622618824738 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 60.78626574425731, + -2123.366480185711, + 22.572622618824738 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 62.28626574425731, + -2120.768403974358, + 22.572622618824738 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 63.78626574425731, + -2118.170327763005, + 22.572622618824738 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 65.2862657442573, + -2115.572251551652, + 22.572622618824738 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 66.7862657442573, + -2112.9741753402986, + 22.572622618824738 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 68.2862657442573, + -2110.3760991289455, + 22.572622618824738 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 69.7862657442573, + -2107.7780229175924, + 22.572622618824738 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 71.2862657442573, + -2105.179946706239, + 22.572622618824738 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 72.7862657442573, + -2102.581870494886, + 22.572622618824738 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 74.2862657442573, + -2099.983794283533, + 22.572622618824738 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 75.7862657442573, + -2097.3857180721798, + 22.572622618824738 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 77.2862657442573, + -2094.7876418608266, + 22.572622618824738 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 77.2862657442573, + -2094.7876418608266, + 22.572622618824738 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948681 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 77.2862657442573, + -2091.7876418608266, + 22.572622618824738 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 77.2862657442573, + -2088.7876418608266, + 22.572622618824738 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 77.2862657442573, + -2085.7876418608266, + 22.572622618824738 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 77.2862657442573, + -2082.7876418608266, + 22.572622618824738 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 77.2862657442573, + -2079.7876418608266, + 22.572622618824738 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 77.2862657442573, + -2076.7876418608266, + 22.572622618824738 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 77.2862657442573, + -2073.7876418608266, + 22.572622618824738 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 77.2862657442573, + -2070.7876418608266, + 22.572622618824738 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 77.2862657442573, + -2067.7876418608266, + 22.572622618824738 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 77.2862657442573, + -2064.7876418608266, + 22.572622618824738 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 77.2862657442573, + -2061.7876418608266, + 22.572622618824738 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 77.2862657442573, + -2061.7876418608266, + 22.572622618824738 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 77.2862657442573, + -2061.7876418608266, + 22.572622618824738 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 79.88434195561062, + -2060.2876418608266, + 22.572622618824738 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 82.48241816696394, + -2058.7876418608266, + 22.572622618824738 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 85.08049437831725, + -2057.2876418608266, + 22.572622618824738 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 87.67857058967057, + -2055.7876418608266, + 22.572622618824738 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 90.27664680102389, + -2054.2876418608266, + 22.572622618824738 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 92.8747230123772, + -2052.7876418608266, + 22.572622618824738 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 95.47279922373052, + -2051.2876418608266, + 22.572622618824738 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 95.47279922373052, + -2051.2876418608266, + 22.572622618824738 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 98.47279922373052, + -2051.2876418608266, + 22.572622618824738 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 101.47279922373052, + -2051.2876418608266, + 22.572622618824738 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 104.47279922373052, + -2051.2876418608266, + 22.572622618824738 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 107.47279922373052, + -2051.2876418608266, + 22.572622618824738 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 110.47279922373052, + -2051.2876418608266, + 22.572622618824738 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 113.47279922373052, + -2051.2876418608266, + 22.572622618824738 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 116.47279922373052, + -2051.2876418608266, + 22.572622618824738 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 119.47279922373052, + -2051.2876418608266, + 22.572622618824738 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 119.47279922373052, + -2051.2876418608266, + 22.572622618824738 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 122.07087543508383, + -2049.7876418608266, + 22.572622618824738 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 124.66895164643715, + -2048.2876418608266, + 22.572622618824738 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 127.26702785779047, + -2046.7876418608266, + 22.572622618824738 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 129.8651040691438, + -2045.2876418608266, + 22.572622618824738 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982965 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 132.4631802804971, + -2043.7876418608266, + 22.572622618824738 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 135.06125649185043, + -2042.2876418608266, + 22.572622618824738 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 137.65933270320375, + -2040.7876418608266, + 22.572622618824738 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 137.65933270320375, + -2040.7876418608266, + 22.572622618824738 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 140.65933270320375, + -2040.7876418608266, + 22.572622618824738 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 176.0, + -2008.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_18-31-48_1984048626/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_18-31-48_1984048626/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9ced680ac7e9eaf8f2be8eddac3b30a1612690c2 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_18-31-48_1984048626/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2126.8162597103983, + -365.4104180995199, + 29.953553062699882 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2126.8162597103983, + -362.4104180995199, + 29.953553062699882 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2126.8162597103983, + -359.4104180995199, + 29.953553062699882 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2126.8162597103983, + -356.4104180995199, + 29.953553062699882 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2126.8162597103983, + -353.4104180995199, + 29.953553062699882 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2126.8162597103983, + -350.4104180995199, + 29.953553062699882 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2126.8162597103983, + -347.4104180995199, + 29.953553062699882 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2126.8162597103983, + -344.4104180995199, + 29.953553062699882 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2126.8162597103983, + -341.4104180995199, + 29.953553062699882 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 2126.8162597103983, + -338.4104180995199, + 29.953553062699882 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2126.8162597103983, + -335.4104180995199, + 29.953553062699882 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2126.8162597103983, + -332.4104180995199, + 29.953553062699882 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 2126.8162597103983, + -329.4104180995199, + 29.953553062699882 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 2126.8162597103983, + -326.4104180995199, + 29.953553062699882 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 2126.8162597103983, + -323.4104180995199, + 29.953553062699882 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 2126.8162597103983, + -320.4104180995199, + 29.953553062699882 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 2126.8162597103983, + -317.4104180995199, + 29.953553062699882 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 2126.8162597103983, + -314.4104180995199, + 29.953553062699882 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 2126.8162597103983, + -311.4104180995199, + 29.953553062699882 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 2126.8162597103983, + -308.4104180995199, + 29.953553062699882 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 2126.8162597103983, + -305.4104180995199, + 29.953553062699882 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 2126.8162597103983, + -302.4104180995199, + 29.953553062699882 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 2126.8162597103983, + -299.4104180995199, + 29.953553062699882 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 2126.8162597103983, + -296.4104180995199, + 29.953553062699882 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 2126.8162597103983, + -293.4104180995199, + 29.953553062699882 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 2126.8162597103983, + -290.4104180995199, + 29.953553062699882 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 2126.8162597103983, + -287.4104180995199, + 29.953553062699882 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 2126.8162597103983, + -284.4104180995199, + 29.953553062699882 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 2126.8162597103983, + -284.4104180995199, + 29.953553062699882 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 2126.8162597103983, + -284.4104180995199, + 29.953553062699882 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 2129.4143359217514, + -282.9104180995199, + 29.953553062699882 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 2132.0124121331046, + -281.4104180995199, + 29.953553062699882 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 2132.0124121331046, + -281.4104180995199, + 29.953553062699882 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196626 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 2133.5124121331046, + -278.8123418881666, + 29.953553062699882 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 2135.0124121331046, + -276.2142656768133, + 29.953553062699882 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 2136.5124121331046, + -273.61618946545997, + 29.953553062699882 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 2138.0124121331046, + -271.01811325410665, + 29.953553062699882 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 2139.5124121331046, + -268.42003704275334, + 29.953553062699882 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 2141.0124121331046, + -265.8219608314, + 29.953553062699882 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 2142.5124121331046, + -263.2238846200467, + 29.953553062699882 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 2144.0124121331046, + -260.6258084086934, + 29.953553062699882 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 2145.5124121331046, + -258.0277321973401, + 29.953553062699882 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 2147.0124121331046, + -255.42965598598676, + 29.953553062699882 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 2148.5124121331046, + -252.83157977463344, + 29.953553062699882 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 2150.0124121331046, + -250.23350356328012, + 29.953553062699882 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 2151.5124121331046, + -247.6354273519268, + 29.953553062699882 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2160.0, + -208.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_18-32-49_371591002/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_18-32-49_371591002/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e11b64c9a395e4618a9350536c7402d8b7e5b8c8 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_18-32-49_371591002/pose.jsonl @@ -0,0 +1,509 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 952.6819866261814, + 28.919551657243602, + 39.891198832058706 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 951.1819866261814, + 26.321475445890286, + 39.891198832058706 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 949.6819866261814, + 23.72339923453697, + 39.891198832058706 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 948.1819866261814, + 21.125323023183654, + 39.891198832058706 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 946.6819866261814, + 18.527246811830338, + 39.891198832058706 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 945.1819866261814, + 15.929170600477022, + 39.891198832058706 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 943.6819866261814, + 13.331094389123706, + 39.891198832058706 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 942.1819866261814, + 10.73301817777039, + 39.891198832058706 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 940.6819866261814, + 8.134941966417074, + 39.891198832058706 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 939.1819866261814, + 5.536865755063758, + 39.891198832058706 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 937.6819866261814, + 2.938789543710442, + 39.891198832058706 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 936.1819866261814, + 0.34071333235712586, + 39.891198832058706 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 934.6819866261814, + -2.25736287899619, + 39.891198832058706 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 933.1819866261814, + -4.855439090349506, + 39.891198832058706 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 931.6819866261814, + -7.453515301702822, + 39.891198832058706 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 930.1819866261814, + -10.051591513056138, + 39.891198832058706 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 928.6819866261814, + -12.649667724409454, + 39.891198832058706 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 927.1819866261814, + -15.24774393576277, + 39.891198832058706 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 925.6819866261814, + -17.845820147116086, + 39.891198832058706 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 924.1819866261814, + -20.443896358469402, + 39.891198832058706 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 922.6819866261814, + -23.04197256982272, + 39.891198832058706 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 921.1819866261814, + -25.640048781176034, + 39.891198832058706 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 919.6819866261814, + -28.23812499252935, + 39.891198832058706 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 918.1819866261814, + -30.836201203882666, + 39.891198832058706 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 916.6819866261814, + -33.43427741523598, + 39.891198832058706 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 915.1819866261814, + -36.0323536265893, + 39.891198832058706 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 913.6819866261814, + -38.630429837942614, + 39.891198832058706 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 912.1819866261814, + -41.22850604929593, + 39.891198832058706 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 910.6819866261814, + -43.826582260649246, + 39.891198832058706 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 909.1819866261814, + -46.42465847200256, + 39.891198832058706 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 907.6819866261814, + -49.02273468335588, + 39.891198832058706 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 906.1819866261814, + -51.620810894709194, + 39.891198832058706 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 904.6819866261814, + -54.21888710606251, + 39.891198832058706 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 903.1819866261814, + -56.816963317415826, + 39.891198832058706 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 901.6819866261814, + -59.41503952876914, + 39.891198832058706 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 901.6819866261814, + -59.41503952876914, + 39.891198832058706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 901.6819866261814, + -62.41503952876914, + 39.891198832058706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 901.6819866261814, + -65.41503952876914, + 39.891198832058706 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 872.0, + -124.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_18-41-31_1403997111/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_18-41-31_1403997111/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..48586055ea9696513f02229325011b76437fb08e --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_18-41-31_1403997111/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4657.0547260259855, + -932.8475353188919, + 16.878518379355135 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4657.0547260259855, + -929.8475353188919, + 16.878518379355135 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4657.0547260259855, + -926.8475353188919, + 16.878518379355135 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4657.0547260259855, + -923.8475353188919, + 16.878518379355135 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4657.0547260259855, + -920.8475353188919, + 16.878518379355135 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4657.0547260259855, + -917.8475353188919, + 16.878518379355135 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4657.0547260259855, + -914.8475353188919, + 16.878518379355135 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4657.0547260259855, + -911.8475353188919, + 16.878518379355135 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4657.0547260259855, + -908.8475353188919, + 16.878518379355135 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4657.0547260259855, + -905.8475353188919, + 16.878518379355135 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4657.0547260259855, + -902.8475353188919, + 16.878518379355135 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4657.0547260259855, + -899.8475353188919, + 16.878518379355135 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4657.0547260259855, + -896.8475353188919, + 16.878518379355135 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4657.0547260259855, + -893.8475353188919, + 16.878518379355135 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4657.0547260259855, + -890.8475353188919, + 16.878518379355135 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4657.0547260259855, + -887.8475353188919, + 16.878518379355135 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 4657.0547260259855, + -884.8475353188919, + 16.878518379355135 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 4657.0547260259855, + -881.8475353188919, + 16.878518379355135 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 4657.0547260259855, + -878.8475353188919, + 16.878518379355135 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 4657.0547260259855, + -875.8475353188919, + 16.878518379355135 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 4657.0547260259855, + -872.8475353188919, + 16.878518379355135 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 4657.0547260259855, + -869.8475353188919, + 16.878518379355135 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 4657.0547260259855, + -866.8475353188919, + 16.878518379355135 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 4657.0547260259855, + -863.8475353188919, + 16.878518379355135 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 4657.0547260259855, + -860.8475353188919, + 16.878518379355135 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 4657.0547260259855, + -857.8475353188919, + 16.878518379355135 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 4657.0547260259855, + -854.8475353188919, + 16.878518379355135 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 4657.0547260259855, + -851.8475353188919, + 16.878518379355135 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 4657.0547260259855, + -848.8475353188919, + 16.878518379355135 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 4657.0547260259855, + -845.8475353188919, + 16.878518379355135 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 4657.0547260259855, + -842.8475353188919, + 16.878518379355135 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 4657.0547260259855, + -842.8475353188919, + 16.878518379355135 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 4655.5547260259855, + -840.2494591075385, + 16.878518379355135 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 4654.0547260259855, + -837.6513828961852, + 16.878518379355135 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 4652.5547260259855, + -835.0533066848318, + 16.878518379355135 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 4651.0547260259855, + -832.4552304734784, + 16.878518379355135 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 4649.5547260259855, + -829.857154262125, + 16.878518379355135 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 4648.0547260259855, + -827.2590780507717, + 16.878518379355135 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 4646.5547260259855, + -824.6610018394183, + 16.878518379355135 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 4645.0547260259855, + -822.0629256280649, + 16.878518379355135 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4640.0, + -772.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_18-43-18_8293554/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_18-43-18_8293554/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d2ee5b5212c2a2f35aab0f46dd4eb76d115daa22 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_18-43-18_8293554/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2801.80655303815, + 829.8815246216958, + 19.842182445323978 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2800.30655303815, + 832.4796008330491, + 19.842182445323978 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2798.80655303815, + 835.0776770444024, + 19.842182445323978 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2797.30655303815, + 837.6757532557558, + 19.842182445323978 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2795.80655303815, + 840.2738294671092, + 19.842182445323978 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2794.30655303815, + 842.8719056784626, + 19.842182445323978 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2792.80655303815, + 845.4699818898159, + 19.842182445323978 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2791.30655303815, + 848.0680581011693, + 19.842182445323978 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2789.80655303815, + 850.6661343125227, + 19.842182445323978 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 2788.30655303815, + 853.264210523876, + 19.842182445323978 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2786.80655303815, + 855.8622867352294, + 19.842182445323978 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2785.30655303815, + 858.4603629465828, + 19.842182445323978 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 2783.80655303815, + 861.0584391579362, + 19.842182445323978 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 2782.30655303815, + 863.6565153692895, + 19.842182445323978 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 2780.80655303815, + 866.2545915806429, + 19.842182445323978 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 2779.30655303815, + 868.8526677919963, + 19.842182445323978 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 2777.80655303815, + 871.4507440033497, + 19.842182445323978 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 2776.30655303815, + 874.048820214703, + 19.842182445323978 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 2774.80655303815, + 876.6468964260564, + 19.842182445323978 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 2773.30655303815, + 879.2449726374098, + 19.842182445323978 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 2771.80655303815, + 881.8430488487631, + 19.842182445323978 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 2770.30655303815, + 884.4411250601165, + 19.842182445323978 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 2768.80655303815, + 887.0392012714699, + 19.842182445323978 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 2767.30655303815, + 889.6372774828233, + 19.842182445323978 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 2765.80655303815, + 892.2353536941766, + 19.842182445323978 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 2764.30655303815, + 894.83342990553, + 19.842182445323978 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 2762.80655303815, + 897.4315061168834, + 19.842182445323978 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 2762.80655303815, + 897.4315061168834, + 19.842182445323978 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 2762.80655303815, + 900.4315061168834, + 19.842182445323978 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 2762.80655303815, + 903.4315061168834, + 19.842182445323978 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 2762.80655303815, + 906.4315061168834, + 19.842182445323978 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 2762.80655303815, + 909.4315061168834, + 19.842182445323978 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 2762.80655303815, + 912.4315061168834, + 19.842182445323978 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 2762.80655303815, + 915.4315061168834, + 19.842182445323978 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 2762.80655303815, + 918.4315061168834, + 19.842182445323978 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 2762.80655303815, + 921.4315061168834, + 19.842182445323978 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 2762.80655303815, + 924.4315061168834, + 19.842182445323978 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 2762.80655303815, + 927.4315061168834, + 19.842182445323978 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 2762.80655303815, + 930.4315061168834, + 19.842182445323978 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 2762.80655303815, + 933.4315061168834, + 19.842182445323978 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 2762.80655303815, + 936.4315061168834, + 19.842182445323978 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 2762.80655303815, + 939.4315061168834, + 19.842182445323978 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 2762.80655303815, + 942.4315061168834, + 19.842182445323978 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 2762.80655303815, + 945.4315061168834, + 19.842182445323978 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 2762.80655303815, + 948.4315061168834, + 19.842182445323978 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 2762.80655303815, + 951.4315061168834, + 19.842182445323978 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 2762.80655303815, + 954.4315061168834, + 19.842182445323978 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 2762.80655303815, + 957.4315061168834, + 19.842182445323978 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 2762.80655303815, + 960.4315061168834, + 19.842182445323978 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 2762.80655303815, + 963.4315061168834, + 19.842182445323978 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 2762.80655303815, + 966.4315061168834, + 19.842182445323978 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2756.0, + 1000.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_18-45-47_524581324/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_18-45-47_524581324/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..15d4a80255195e5ecb201cbadf8f8413f009a27d --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_18-45-47_524581324/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1991.3351234360398, + -1319.045405797345, + 16.47133543403638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1989.8351234360398, + -1316.4473295859916, + 16.47133543403638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1988.3351234360398, + -1313.8492533746382, + 16.47133543403638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1986.8351234360398, + -1311.2511771632849, + 16.47133543403638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1985.3351234360398, + -1308.6531009519315, + 16.47133543403638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1983.8351234360398, + -1306.0550247405781, + 16.47133543403638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1982.3351234360398, + -1303.4569485292247, + 16.47133543403638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1980.8351234360398, + -1300.8588723178714, + 16.47133543403638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1979.3351234360398, + -1298.260796106518, + 16.47133543403638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1977.8351234360398, + -1295.6627198951646, + 16.47133543403638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1976.3351234360398, + -1293.0646436838113, + 16.47133543403638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1974.8351234360398, + -1290.4665674724579, + 16.47133543403638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1973.3351234360398, + -1287.8684912611045, + 16.47133543403638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1971.8351234360398, + -1285.2704150497511, + 16.47133543403638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1970.3351234360398, + -1282.6723388383978, + 16.47133543403638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1968.8351234360398, + -1280.0742626270444, + 16.47133543403638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1967.3351234360398, + -1277.476186415691, + 16.47133543403638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1965.8351234360398, + -1274.8781102043376, + 16.47133543403638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1964.3351234360398, + -1272.2800339929843, + 16.47133543403638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1962.8351234360398, + -1269.681957781631, + 16.47133543403638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1961.3351234360398, + -1267.0838815702775, + 16.47133543403638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1959.8351234360398, + -1264.4858053589242, + 16.47133543403638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1958.3351234360398, + -1261.8877291475708, + 16.47133543403638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1956.8351234360398, + -1259.2896529362174, + 16.47133543403638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1955.3351234360398, + -1256.691576724864, + 16.47133543403638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1953.8351234360398, + -1254.0935005135107, + 16.47133543403638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1952.3351234360398, + -1251.4954243021573, + 16.47133543403638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1950.8351234360398, + -1248.897348090804, + 16.47133543403638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1949.3351234360398, + -1246.2992718794505, + 16.47133543403638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1947.8351234360398, + -1243.7011956680972, + 16.47133543403638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1946.3351234360398, + -1241.1031194567438, + 16.47133543403638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1944.8351234360398, + -1238.5050432453904, + 16.47133543403638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1943.3351234360398, + -1235.906967034037, + 16.47133543403638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1941.8351234360398, + -1233.3088908226837, + 16.47133543403638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1940.3351234360398, + -1230.7108146113303, + 16.47133543403638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1938.8351234360398, + -1228.112738399977, + 16.47133543403638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1937.3351234360398, + -1225.5146621886236, + 16.47133543403638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1935.8351234360398, + -1222.9165859772702, + 16.47133543403638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1934.3351234360398, + -1220.3185097659168, + 16.47133543403638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1932.8351234360398, + -1217.7204335545634, + 16.47133543403638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1931.3351234360398, + -1215.12235734321, + 16.47133543403638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1929.8351234360398, + -1212.5242811318567, + 16.47133543403638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1928.3351234360398, + -1209.9262049205033, + 16.47133543403638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1926.8351234360398, + -1207.32812870915, + 16.47133543403638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1925.3351234360398, + -1204.7300524977966, + 16.47133543403638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1923.8351234360398, + -1202.1319762864432, + 16.47133543403638 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1908.0, + -1180.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_18-46-16_967108342/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_18-46-16_967108342/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b3eb7e2a9587c4e2a9daf7ae7bfb283efc756a9e --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_18-46-16_967108342/pose.jsonl @@ -0,0 +1,392 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 76.380961023922, + 427.3223646353661, + 34.28690994061191 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 79.380961023922, + 427.3223646353661, + 34.28690994061191 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 82.380961023922, + 427.3223646353661, + 34.28690994061191 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 85.380961023922, + 427.3223646353661, + 34.28690994061191 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 88.380961023922, + 427.3223646353661, + 34.28690994061191 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 91.380961023922, + 427.3223646353661, + 34.28690994061191 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 94.380961023922, + 427.3223646353661, + 34.28690994061191 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 97.380961023922, + 427.3223646353661, + 34.28690994061191 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 100.380961023922, + 427.3223646353661, + 34.28690994061191 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 103.380961023922, + 427.3223646353661, + 34.28690994061191 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 106.380961023922, + 427.3223646353661, + 34.28690994061191 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 109.380961023922, + 427.3223646353661, + 34.28690994061191 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 112.380961023922, + 427.3223646353661, + 34.28690994061191 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 112.380961023922, + 427.3223646353661, + 34.28690994061191 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 114.97903723527531, + 428.8223646353661, + 34.28690994061191 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 117.57711344662863, + 430.3223646353661, + 34.28690994061191 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 120.17518965798195, + 431.8223646353661, + 34.28690994061191 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 122.77326586933526, + 433.3223646353661, + 34.28690994061191 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 125.37134208068858, + 434.8223646353661, + 34.28690994061191 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 127.9694182920419, + 436.3223646353661, + 34.28690994061191 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 130.5674945033952, + 437.8223646353661, + 34.28690994061191 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 133.16557071474853, + 439.3223646353661, + 34.28690994061191 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 135.76364692610184, + 440.8223646353661, + 34.28690994061191 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 138.36172313745516, + 442.3223646353661, + 34.28690994061191 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 140.95979934880847, + 443.8223646353661, + 34.28690994061191 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 143.5578755601618, + 445.3223646353661, + 34.28690994061191 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 146.1559517715151, + 446.8223646353661, + 34.28690994061191 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 148.75402798286842, + 448.3223646353661, + 34.28690994061191 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 151.35210419422174, + 449.8223646353661, + 34.28690994061191 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 244.0, + 476.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_18-50-14_1970034225/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_18-50-14_1970034225/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2544654d7d734176987842344b44f01ad7484414 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_18-50-14_1970034225/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2482.222383349027, + -2832.6820634386204, + 34.363057857596026 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2480.722383349027, + -2835.2801396499735, + 34.363057857596026 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2479.222383349027, + -2837.8782158613267, + 34.363057857596026 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2477.722383349027, + -2840.47629207268, + 34.363057857596026 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2476.222383349027, + -2843.074368284033, + 34.363057857596026 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2474.722383349027, + -2845.672444495386, + 34.363057857596026 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2473.222383349027, + -2848.2705207067393, + 34.363057857596026 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2471.722383349027, + -2850.8685969180924, + 34.363057857596026 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2470.222383349027, + -2853.4666731294456, + 34.363057857596026 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 2468.722383349027, + -2856.0647493407987, + 34.363057857596026 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2467.222383349027, + -2858.662825552152, + 34.363057857596026 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2465.722383349027, + -2861.260901763505, + 34.363057857596026 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 2464.222383349027, + -2863.858977974858, + 34.363057857596026 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 2462.722383349027, + -2866.4570541862113, + 34.363057857596026 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 2461.222383349027, + -2869.0551303975644, + 34.363057857596026 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 2459.722383349027, + -2871.6532066089176, + 34.363057857596026 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 2458.222383349027, + -2874.2512828202707, + 34.363057857596026 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 2456.722383349027, + -2876.849359031624, + 34.363057857596026 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 2455.222383349027, + -2879.447435242977, + 34.363057857596026 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 2453.722383349027, + -2882.04551145433, + 34.363057857596026 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 2452.222383349027, + -2884.6435876656833, + 34.363057857596026 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 2450.722383349027, + -2887.2416638770364, + 34.363057857596026 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 2449.222383349027, + -2889.8397400883896, + 34.363057857596026 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 2447.722383349027, + -2892.4378162997427, + 34.363057857596026 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 2446.222383349027, + -2895.035892511096, + 34.363057857596026 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 2444.722383349027, + -2897.633968722449, + 34.363057857596026 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 2443.222383349027, + -2900.232044933802, + 34.363057857596026 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 2441.722383349027, + -2902.8301211451553, + 34.363057857596026 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 2440.222383349027, + -2905.4281973565085, + 34.363057857596026 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 2438.722383349027, + -2908.0262735678616, + 34.363057857596026 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 2437.222383349027, + -2910.6243497792148, + 34.363057857596026 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 2435.722383349027, + -2913.222425990568, + 34.363057857596026 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 2434.222383349027, + -2915.820502201921, + 34.363057857596026 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 2432.722383349027, + -2918.418578413274, + 34.363057857596026 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 2431.222383349027, + -2921.0166546246273, + 34.363057857596026 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 2429.722383349027, + -2923.6147308359805, + 34.363057857596026 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 2428.222383349027, + -2926.2128070473336, + 34.363057857596026 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 2426.722383349027, + -2928.8108832586868, + 34.363057857596026 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 2425.222383349027, + -2931.40895947004, + 34.363057857596026 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 2423.722383349027, + -2934.007035681393, + 34.363057857596026 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 2422.222383349027, + -2936.605111892746, + 34.363057857596026 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 2420.722383349027, + -2939.2031881040994, + 34.363057857596026 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 2419.222383349027, + -2941.8012643154525, + 34.363057857596026 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 2417.722383349027, + -2944.3993405268056, + 34.363057857596026 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 2416.222383349027, + -2946.997416738159, + 34.363057857596026 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 2414.722383349027, + -2949.595492949512, + 34.363057857596026 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 2414.722383349027, + -2949.595492949512, + 34.363057857596026 + ], + "type": "go straight", + "value": 3, + "yaw": -1.570796326794925 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 2414.722383349027, + -2952.595492949512, + 34.363057857596026 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 2414.722383349027, + -2955.595492949512, + 34.363057857596026 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 2414.722383349027, + -2958.595492949512, + 34.363057857596026 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 2414.722383349027, + -2961.595492949512, + 34.363057857596026 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 2414.722383349027, + -2964.595492949512, + 34.363057857596026 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 2414.722383349027, + -2967.595492949512, + 34.363057857596026 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 2414.722383349027, + -2970.595492949512, + 34.363057857596026 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2408.0, + -2984.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_18-55-38_1420599300/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_18-55-38_1420599300/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9f10f6a895f3abb099fdfe27b6258944a72d0d3a --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_18-55-38_1420599300/pose.jsonl @@ -0,0 +1,522 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1780.9209126138644, + 745.8282768081914, + 15.654992937545734 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1783.9209126138644, + 745.8282768081914, + 15.654992937545734 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1786.9209126138644, + 745.8282768081914, + 15.654992937545734 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1789.9209126138644, + 745.8282768081914, + 15.654992937545734 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1792.9209126138644, + 745.8282768081914, + 15.654992937545734 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1795.9209126138644, + 745.8282768081914, + 15.654992937545734 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1798.9209126138644, + 745.8282768081914, + 15.654992937545734 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1801.9209126138644, + 745.8282768081914, + 15.654992937545734 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1804.9209126138644, + 745.8282768081914, + 15.654992937545734 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1807.9209126138644, + 745.8282768081914, + 15.654992937545734 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1810.9209126138644, + 745.8282768081914, + 15.654992937545734 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1813.9209126138644, + 745.8282768081914, + 15.654992937545734 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1816.9209126138644, + 745.8282768081914, + 15.654992937545734 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1819.9209126138644, + 745.8282768081914, + 15.654992937545734 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1822.9209126138644, + 745.8282768081914, + 15.654992937545734 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1825.9209126138644, + 745.8282768081914, + 15.654992937545734 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1828.9209126138644, + 745.8282768081914, + 15.654992937545734 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1831.9209126138644, + 745.8282768081914, + 15.654992937545734 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1834.9209126138644, + 745.8282768081914, + 15.654992937545734 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1837.9209126138644, + 745.8282768081914, + 15.654992937545734 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1840.9209126138644, + 745.8282768081914, + 15.654992937545734 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1843.9209126138644, + 745.8282768081914, + 15.654992937545734 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1846.9209126138644, + 745.8282768081914, + 15.654992937545734 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1849.9209126138644, + 745.8282768081914, + 15.654992937545734 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1852.9209126138644, + 745.8282768081914, + 15.654992937545734 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1855.9209126138644, + 745.8282768081914, + 15.654992937545734 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1855.9209126138644, + 745.8282768081914, + 15.654992937545734 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1855.9209126138644, + 745.8282768081914, + 15.654992937545734 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1857.4209126138644, + 748.4263530195446, + 15.654992937545734 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1858.9209126138644, + 751.024429230898, + 15.654992937545734 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1860.4209126138644, + 753.6225054422514, + 15.654992937545734 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1860.4209126138644, + 753.6225054422514, + 15.654992937545734 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1863.0189888252178, + 755.1225054422514, + 15.654992937545734 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1865.6170650365711, + 756.6225054422514, + 15.654992937545734 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1868.2151412479245, + 758.1225054422514, + 15.654992937545734 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1870.813217459278, + 759.6225054422514, + 15.654992937545734 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1873.4112936706313, + 761.1225054422514, + 15.654992937545734 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1876.0093698819846, + 762.6225054422514, + 15.654992937545734 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1878.607446093338, + 764.1225054422514, + 15.654992937545734 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1952.0, + 776.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_19-13-17_1616757669/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_19-13-17_1616757669/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..342d34c93e7d6892dcb9fffab133d65e99caf353 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_19-13-17_1616757669/pose.jsonl @@ -0,0 +1,808 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2448.768982908476, + 1243.1286366182485, + 37.43800642561932 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2446.170906697123, + 1241.6286366182485, + 37.43800642561932 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2443.57283048577, + 1240.1286366182485, + 37.43800642561932 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2440.9747542744167, + 1238.6286366182485, + 37.43800642561932 + ], + "type": "turn left", + "value": 30, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2440.9747542744167, + 1238.6286366182485, + 37.43800642561932 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931673 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2439.4747542744167, + 1236.0305604068951, + 37.43800642561932 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2437.9747542744167, + 1233.4324841955417, + 37.43800642561932 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2436.4747542744167, + 1230.8344079841884, + 37.43800642561932 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2434.9747542744167, + 1228.236331772835, + 37.43800642561932 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 2433.4747542744167, + 1225.6382555614816, + 37.43800642561932 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2431.9747542744167, + 1223.0401793501283, + 37.43800642561932 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2430.4747542744167, + 1220.4421031387749, + 37.43800642561932 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 2428.9747542744167, + 1217.8440269274215, + 37.43800642561932 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 2427.4747542744167, + 1215.2459507160681, + 37.43800642561932 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 2425.9747542744167, + 1212.6478745047148, + 37.43800642561932 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 2424.4747542744167, + 1210.0497982933614, + 37.43800642561932 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 2422.9747542744167, + 1207.451722082008, + 37.43800642561932 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 2421.4747542744167, + 1204.8536458706546, + 37.43800642561932 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 2419.9747542744167, + 1202.2555696593013, + 37.43800642561932 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 2418.4747542744167, + 1199.657493447948, + 37.43800642561932 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 2416.9747542744167, + 1197.0594172365945, + 37.43800642561932 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 2416.9747542744167, + 1197.0594172365945, + 37.43800642561932 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 2416.9747542744167, + 1194.0594172365945, + 37.43800642561932 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 2416.9747542744167, + 1191.0594172365945, + 37.43800642561932 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 2416.9747542744167, + 1188.0594172365945, + 37.43800642561932 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 2416.9747542744167, + 1185.0594172365945, + 37.43800642561932 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 2416.9747542744167, + 1182.0594172365945, + 37.43800642561932 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 2416.9747542744167, + 1179.0594172365945, + 37.43800642561932 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 2416.9747542744167, + 1179.0594172365945, + 37.43800642561932 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 2415.4747542744167, + 1176.4613410252412, + 37.43800642561932 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 2413.9747542744167, + 1173.8632648138878, + 37.43800642561932 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 2412.4747542744167, + 1171.2651886025344, + 37.43800642561932 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 2410.9747542744167, + 1168.667112391181, + 37.43800642561932 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 2409.4747542744167, + 1166.0690361798277, + 37.43800642561932 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 2407.9747542744167, + 1163.4709599684743, + 37.43800642561932 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 2407.9747542744167, + 1163.4709599684743, + 37.43800642561932 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 2407.9747542744167, + 1160.4709599684743, + 37.43800642561932 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 2407.9747542744167, + 1157.4709599684743, + 37.43800642561932 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 2407.9747542744167, + 1154.4709599684743, + 37.43800642561932 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 2407.9747542744167, + 1151.4709599684743, + 37.43800642561932 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 2407.9747542744167, + 1148.4709599684743, + 37.43800642561932 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 2407.9747542744167, + 1148.4709599684743, + 37.43800642561932 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 2407.9747542744167, + 1148.4709599684743, + 37.43800642561932 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 2410.57283048577, + 1146.9709599684743, + 37.43800642561932 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 2413.170906697123, + 1145.4709599684743, + 37.43800642561932 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 2413.170906697123, + 1145.4709599684743, + 37.43800642561932 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196626 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 2414.670906697123, + 1142.872883757121, + 37.43800642561932 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 2416.170906697123, + 1140.2748075457675, + 37.43800642561932 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 2417.670906697123, + 1137.6767313344142, + 37.43800642561932 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 2419.170906697123, + 1135.0786551230608, + 37.43800642561932 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 2420.670906697123, + 1132.4805789117074, + 37.43800642561932 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 2422.170906697123, + 1129.882502700354, + 37.43800642561932 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 2423.670906697123, + 1127.2844264890007, + 37.43800642561932 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 2425.170906697123, + 1124.6863502776473, + 37.43800642561932 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 2426.670906697123, + 1122.088274066294, + 37.43800642561932 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 2428.170906697123, + 1119.4901978549406, + 37.43800642561932 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 2429.670906697123, + 1116.8921216435872, + 37.43800642561932 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 2431.170906697123, + 1114.2940454322338, + 37.43800642561932 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 2432.670906697123, + 1111.6959692208804, + 37.43800642561932 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 2434.170906697123, + 1109.097893009527, + 37.43800642561932 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 2435.670906697123, + 1106.4998167981737, + 37.43800642561932 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2436.0, + 1088.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_19-14-39_2092503157/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_19-14-39_2092503157/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..72ff932b8b4b3c668a988ba7f3d690e8156b6b27 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_19-14-39_2092503157/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1377.2805638757707, + 438.2486792610026, + 26.714644371981752 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1377.2805638757707, + 441.2486792610026, + 26.714644371981752 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1377.2805638757707, + 444.2486792610026, + 26.714644371981752 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1377.2805638757707, + 447.2486792610026, + 26.714644371981752 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1377.2805638757707, + 450.2486792610026, + 26.714644371981752 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1377.2805638757707, + 453.2486792610026, + 26.714644371981752 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1377.2805638757707, + 456.2486792610026, + 26.714644371981752 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1377.2805638757707, + 459.2486792610026, + 26.714644371981752 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1377.2805638757707, + 462.2486792610026, + 26.714644371981752 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1377.2805638757707, + 465.2486792610026, + 26.714644371981752 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1377.2805638757707, + 468.2486792610026, + 26.714644371981752 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1377.2805638757707, + 471.2486792610026, + 26.714644371981752 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1377.2805638757707, + 474.2486792610026, + 26.714644371981752 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1377.2805638757707, + 477.2486792610026, + 26.714644371981752 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1377.2805638757707, + 480.2486792610026, + 26.714644371981752 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1377.2805638757707, + 483.2486792610026, + 26.714644371981752 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1377.2805638757707, + 486.2486792610026, + 26.714644371981752 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1377.2805638757707, + 489.2486792610026, + 26.714644371981752 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1377.2805638757707, + 492.2486792610026, + 26.714644371981752 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1377.2805638757707, + 495.2486792610026, + 26.714644371981752 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1377.2805638757707, + 498.2486792610026, + 26.714644371981752 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1377.2805638757707, + 501.2486792610026, + 26.714644371981752 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1377.2805638757707, + 504.2486792610026, + 26.714644371981752 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1377.2805638757707, + 507.2486792610026, + 26.714644371981752 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1377.2805638757707, + 510.2486792610026, + 26.714644371981752 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1377.2805638757707, + 513.2486792610026, + 26.714644371981752 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1377.2805638757707, + 516.2486792610026, + 26.714644371981752 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1377.2805638757707, + 519.2486792610026, + 26.714644371981752 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1377.2805638757707, + 522.2486792610026, + 26.714644371981752 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1377.2805638757707, + 525.2486792610026, + 26.714644371981752 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1377.2805638757707, + 528.2486792610026, + 26.714644371981752 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1377.2805638757707, + 531.2486792610026, + 26.714644371981752 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1377.2805638757707, + 534.2486792610026, + 26.714644371981752 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1377.2805638757707, + 537.2486792610026, + 26.714644371981752 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1377.2805638757707, + 540.2486792610026, + 26.714644371981752 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1377.2805638757707, + 543.2486792610026, + 26.714644371981752 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1377.2805638757707, + 543.2486792610026, + 26.714644371981752 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1378.7805638757707, + 545.8467554723559, + 26.714644371981752 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1380.2805638757707, + 548.4448316837093, + 26.714644371981752 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1381.7805638757707, + 551.0429078950626, + 26.714644371981752 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1383.2805638757707, + 553.640984106416, + 26.714644371981752 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1384.7805638757707, + 556.2390603177694, + 26.714644371981752 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1386.2805638757707, + 558.8371365291227, + 26.714644371981752 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1387.7805638757707, + 561.4352127404761, + 26.714644371981752 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1389.2805638757707, + 564.0332889518295, + 26.714644371981752 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1390.7805638757707, + 566.6313651631829, + 26.714644371981752 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1396.0, + 608.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_19-16-11_1600243658/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_19-16-11_1600243658/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cdd23ea0a1b243852fcc072552f24339c7071155 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_19-16-11_1600243658/pose.jsonl @@ -0,0 +1,743 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4118.132529216356, + 1348.7627371312062, + 29.948194562911297 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4120.730605427709, + 1350.2627371312062, + 29.948194562911297 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4123.328681639062, + 1351.7627371312062, + 29.948194562911297 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4125.926757850415, + 1353.2627371312062, + 29.948194562911297 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4128.524834061768, + 1354.7627371312062, + 29.948194562911297 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4131.122910273121, + 1356.2627371312062, + 29.948194562911297 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4133.720986484474, + 1357.7627371312062, + 29.948194562911297 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4136.319062695828, + 1359.2627371312062, + 29.948194562911297 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4138.917138907181, + 1360.7627371312062, + 29.948194562911297 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4141.515215118534, + 1362.2627371312062, + 29.948194562911297 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4144.113291329887, + 1363.7627371312062, + 29.948194562911297 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4146.71136754124, + 1365.2627371312062, + 29.948194562911297 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4149.309443752593, + 1366.7627371312062, + 29.948194562911297 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4151.9075199639465, + 1368.2627371312062, + 29.948194562911297 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4154.5055961753, + 1369.7627371312062, + 29.948194562911297 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4157.103672386653, + 1371.2627371312062, + 29.948194562911297 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 4159.701748598006, + 1372.7627371312062, + 29.948194562911297 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 4162.299824809359, + 1374.2627371312062, + 29.948194562911297 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 4164.897901020712, + 1375.7627371312062, + 29.948194562911297 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 4167.495977232065, + 1377.2627371312062, + 29.948194562911297 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 4170.0940534434185, + 1378.7627371312062, + 29.948194562911297 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 4172.692129654772, + 1380.2627371312062, + 29.948194562911297 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 4175.290205866125, + 1381.7627371312062, + 29.948194562911297 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 4177.888282077478, + 1383.2627371312062, + 29.948194562911297 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 4180.486358288831, + 1384.7627371312062, + 29.948194562911297 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 4183.084434500184, + 1386.2627371312062, + 29.948194562911297 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 4185.682510711537, + 1387.7627371312062, + 29.948194562911297 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 4188.2805869228905, + 1389.2627371312062, + 29.948194562911297 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 4190.878663134244, + 1390.7627371312062, + 29.948194562911297 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 4193.476739345597, + 1392.2627371312062, + 29.948194562911297 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 4193.476739345597, + 1392.2627371312062, + 29.948194562911297 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196626 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 4194.976739345597, + 1394.8608133425596, + 29.948194562911297 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 4196.476739345597, + 1397.458889553913, + 29.948194562911297 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 4197.976739345597, + 1400.0569657652663, + 29.948194562911297 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 4199.476739345597, + 1402.6550419766197, + 29.948194562911297 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 4200.976739345597, + 1405.253118187973, + 29.948194562911297 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 4202.476739345597, + 1407.8511943993265, + 29.948194562911297 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 4203.976739345597, + 1410.4492706106798, + 29.948194562911297 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 4205.476739345597, + 1413.0473468220332, + 29.948194562911297 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 4206.976739345597, + 1415.6454230333866, + 29.948194562911297 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 4208.476739345597, + 1418.24349924474, + 29.948194562911297 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 4209.976739345597, + 1420.8415754560933, + 29.948194562911297 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 4211.476739345597, + 1423.4396516674467, + 29.948194562911297 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 4212.976739345597, + 1426.0377278788, + 29.948194562911297 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 4214.476739345597, + 1428.6358040901534, + 29.948194562911297 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 4215.976739345597, + 1431.2338803015068, + 29.948194562911297 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 4217.476739345597, + 1433.8319565128602, + 29.948194562911297 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 4218.976739345597, + 1436.4300327242136, + 29.948194562911297 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 4220.476739345597, + 1439.028108935567, + 29.948194562911297 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 4220.476739345597, + 1439.028108935567, + 29.948194562911297 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 4220.476739345597, + 1442.028108935567, + 29.948194562911297 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 4220.476739345597, + 1445.028108935567, + 29.948194562911297 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 4220.476739345597, + 1448.028108935567, + 29.948194562911297 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 4220.476739345597, + 1448.028108935567, + 29.948194562911297 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 4221.976739345597, + 1450.6261851469203, + 29.948194562911297 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 4223.476739345597, + 1453.2242613582737, + 29.948194562911297 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4240.0, + 1472.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_19-16-41_310936585/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_19-16-41_310936585/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ae72014c0a9adbb0372e4e334601db691c62635e --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_19-16-41_310936585/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2935.162077520937, + 2311.792708899429, + 20.37862770650691 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2932.162077520937, + 2311.792708899429, + 20.37862770650691 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2929.162077520937, + 2311.792708899429, + 20.37862770650691 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2926.162077520937, + 2311.792708899429, + 20.37862770650691 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2923.162077520937, + 2311.792708899429, + 20.37862770650691 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2920.162077520937, + 2311.792708899429, + 20.37862770650691 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2917.162077520937, + 2311.792708899429, + 20.37862770650691 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2914.162077520937, + 2311.792708899429, + 20.37862770650691 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2911.162077520937, + 2311.792708899429, + 20.37862770650691 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2908.162077520937, + 2311.792708899429, + 20.37862770650691 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2905.162077520937, + 2311.792708899429, + 20.37862770650691 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2902.162077520937, + 2311.792708899429, + 20.37862770650691 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2899.162077520937, + 2311.792708899429, + 20.37862770650691 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2896.162077520937, + 2311.792708899429, + 20.37862770650691 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2893.162077520937, + 2311.792708899429, + 20.37862770650691 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2890.162077520937, + 2311.792708899429, + 20.37862770650691 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2887.162077520937, + 2311.792708899429, + 20.37862770650691 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2884.162077520937, + 2311.792708899429, + 20.37862770650691 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2881.162077520937, + 2311.792708899429, + 20.37862770650691 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2878.162077520937, + 2311.792708899429, + 20.37862770650691 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2875.162077520937, + 2311.792708899429, + 20.37862770650691 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2872.162077520937, + 2311.792708899429, + 20.37862770650691 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2869.162077520937, + 2311.792708899429, + 20.37862770650691 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2869.162077520937, + 2311.792708899429, + 20.37862770650691 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2866.564001309584, + 2313.292708899429, + 20.37862770650691 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2866.564001309584, + 2313.292708899429, + 20.37862770650691 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196626 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2865.064001309584, + 2315.890785110782, + 20.37862770650691 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2863.564001309584, + 2318.488861322135, + 20.37862770650691 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2863.564001309584, + 2318.488861322135, + 20.37862770650691 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982706 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2860.965925098231, + 2319.988861322135, + 20.37862770650691 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2858.3678488868777, + 2321.488861322135, + 20.37862770650691 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2855.7697726755246, + 2322.988861322135, + 20.37862770650691 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2853.1716964641714, + 2324.488861322135, + 20.37862770650691 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2850.5736202528183, + 2325.988861322135, + 20.37862770650691 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2847.975544041465, + 2327.488861322135, + 20.37862770650691 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -2845.377467830112, + 2328.988861322135, + 20.37862770650691 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -2842.779391618759, + 2330.488861322135, + 20.37862770650691 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -2840.1813154074057, + 2331.988861322135, + 20.37862770650691 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -2837.5832391960525, + 2333.488861322135, + 20.37862770650691 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -2834.9851629846994, + 2334.988861322135, + 20.37862770650691 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -2832.3870867733463, + 2336.488861322135, + 20.37862770650691 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -2829.789010561993, + 2337.988861322135, + 20.37862770650691 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -2827.19093435064, + 2339.488861322135, + 20.37862770650691 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -2824.592858139287, + 2340.988861322135, + 20.37862770650691 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -2821.9947819279337, + 2342.488861322135, + 20.37862770650691 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -2819.3967057165805, + 2343.988861322135, + 20.37862770650691 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -2816.7986295052274, + 2345.488861322135, + 20.37862770650691 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -2814.2005532938742, + 2346.988861322135, + 20.37862770650691 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -2811.602477082521, + 2348.488861322135, + 20.37862770650691 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -2809.004400871168, + 2349.988861322135, + 20.37862770650691 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -2806.406324659815, + 2351.488861322135, + 20.37862770650691 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -2803.8082484484617, + 2352.988861322135, + 20.37862770650691 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755983272 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2780.0, + 2364.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_19-19-26_179486052/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_19-19-26_179486052/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..aad18f8b9deaa9669d9c8444e40f646da697fdd8 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_19-19-26_179486052/pose.jsonl @@ -0,0 +1,223 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -631.719624715134, + 68.5480026175581, + 29.091773134173835 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -630.219624715134, + 71.14607882891141, + 29.091773134173835 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -628.719624715134, + 73.74415504026473, + 29.091773134173835 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -627.219624715134, + 76.34223125161805, + 29.091773134173835 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -625.719624715134, + 78.94030746297136, + 29.091773134173835 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -624.219624715134, + 81.53838367432468, + 29.091773134173835 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -622.719624715134, + 84.136459885678, + 29.091773134173835 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -621.219624715134, + 86.73453609703131, + 29.091773134173835 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -619.719624715134, + 89.33261230838463, + 29.091773134173835 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -618.219624715134, + 91.93068851973794, + 29.091773134173835 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -616.719624715134, + 94.52876473109126, + 29.091773134173835 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -616.719624715134, + 94.52876473109126, + 29.091773134173835 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -614.1215485037808, + 96.02876473109126, + 29.091773134173835 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -611.5234722924274, + 97.52876473109126, + 29.091773134173835 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -608.925396081074, + 99.02876473109126, + 29.091773134173835 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -606.3273198697207, + 100.52876473109126, + 29.091773134173835 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -532.0, + 200.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_19-23-52_1408564037/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_19-23-52_1408564037/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ba4a5921ac16ad64c214101315081325ac7d40ce --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_19-23-52_1408564037/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1822.922053580651, + -2197.018727488807, + 20.85601945783772 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1825.922053580651, + -2197.018727488807, + 20.85601945783772 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1828.922053580651, + -2197.018727488807, + 20.85601945783772 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1831.922053580651, + -2197.018727488807, + 20.85601945783772 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1834.922053580651, + -2197.018727488807, + 20.85601945783772 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1837.922053580651, + -2197.018727488807, + 20.85601945783772 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1840.922053580651, + -2197.018727488807, + 20.85601945783772 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1843.922053580651, + -2197.018727488807, + 20.85601945783772 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1846.922053580651, + -2197.018727488807, + 20.85601945783772 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1849.922053580651, + -2197.018727488807, + 20.85601945783772 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1852.922053580651, + -2197.018727488807, + 20.85601945783772 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1855.922053580651, + -2197.018727488807, + 20.85601945783772 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1858.922053580651, + -2197.018727488807, + 20.85601945783772 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1861.922053580651, + -2197.018727488807, + 20.85601945783772 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1864.922053580651, + -2197.018727488807, + 20.85601945783772 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1867.922053580651, + -2197.018727488807, + 20.85601945783772 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1870.922053580651, + -2197.018727488807, + 20.85601945783772 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1873.922053580651, + -2197.018727488807, + 20.85601945783772 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1876.922053580651, + -2197.018727488807, + 20.85601945783772 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1879.922053580651, + -2197.018727488807, + 20.85601945783772 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1882.922053580651, + -2197.018727488807, + 20.85601945783772 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1885.922053580651, + -2197.018727488807, + 20.85601945783772 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1888.922053580651, + -2197.018727488807, + 20.85601945783772 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1891.922053580651, + -2197.018727488807, + 20.85601945783772 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1894.922053580651, + -2197.018727488807, + 20.85601945783772 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1897.922053580651, + -2197.018727488807, + 20.85601945783772 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1900.922053580651, + -2197.018727488807, + 20.85601945783772 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1903.922053580651, + -2197.018727488807, + 20.85601945783772 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1906.922053580651, + -2197.018727488807, + 20.85601945783772 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1909.922053580651, + -2197.018727488807, + 20.85601945783772 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1912.922053580651, + -2197.018727488807, + 20.85601945783772 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1915.922053580651, + -2197.018727488807, + 20.85601945783772 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1918.922053580651, + -2197.018727488807, + 20.85601945783772 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1921.922053580651, + -2197.018727488807, + 20.85601945783772 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1924.922053580651, + -2197.018727488807, + 20.85601945783772 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1927.922053580651, + -2197.018727488807, + 20.85601945783772 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1930.922053580651, + -2197.018727488807, + 20.85601945783772 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1933.922053580651, + -2197.018727488807, + 20.85601945783772 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1936.922053580651, + -2197.018727488807, + 20.85601945783772 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1939.922053580651, + -2197.018727488807, + 20.85601945783772 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1939.922053580651, + -2197.018727488807, + 20.85601945783772 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1939.922053580651, + -2197.018727488807, + 20.85601945783772 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1941.422053580651, + -2194.420651277454, + 20.85601945783772 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1942.922053580651, + -2191.822575066101, + 20.85601945783772 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1944.422053580651, + -2189.2244988547477, + 20.85601945783772 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1944.422053580651, + -2189.2244988547477, + 20.85601945783772 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915224 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1947.0201297920044, + -2187.7244988547477, + 20.85601945783772 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1949.6182060033577, + -2186.2244988547477, + 20.85601945783772 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1952.216282214711, + -2184.7244988547477, + 20.85601945783772 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1954.8143584260645, + -2183.2244988547477, + 20.85601945783772 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -1957.4124346374178, + -2181.7244988547477, + 20.85601945783772 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -1960.0105108487712, + -2180.2244988547477, + 20.85601945783772 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -1962.6085870601246, + -2178.7244988547477, + 20.85601945783772 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1988.0, + -2176.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_19-32-44_1882802159/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_19-32-44_1882802159/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..164d18da0b34b13a08ce660930539c736d7c124c --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_19-32-44_1882802159/pose.jsonl @@ -0,0 +1,821 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2844.4717200298073, + 1721.7509951631964, + 22.38615665544996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2847.0697962411605, + 1720.2509951631964, + 22.38615665544996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2849.6678724525136, + 1718.7509951631964, + 22.38615665544996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2852.2659486638668, + 1717.2509951631964, + 22.38615665544996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2854.86402487522, + 1715.7509951631964, + 22.38615665544996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2857.462101086573, + 1714.2509951631964, + 22.38615665544996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2860.060177297926, + 1712.7509951631964, + 22.38615665544996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2862.6582535092793, + 1711.2509951631964, + 22.38615665544996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2865.2563297206325, + 1709.7509951631964, + 22.38615665544996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2867.8544059319856, + 1708.2509951631964, + 22.38615665544996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2870.452482143339, + 1706.7509951631964, + 22.38615665544996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2873.050558354692, + 1705.2509951631964, + 22.38615665544996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2875.648634566045, + 1703.7509951631964, + 22.38615665544996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2878.246710777398, + 1702.2509951631964, + 22.38615665544996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2880.8447869887514, + 1700.7509951631964, + 22.38615665544996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2883.4428632001045, + 1699.2509951631964, + 22.38615665544996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2886.0409394114577, + 1697.7509951631964, + 22.38615665544996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2888.639015622811, + 1696.2509951631964, + 22.38615665544996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2891.237091834164, + 1694.7509951631964, + 22.38615665544996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2893.835168045517, + 1693.2509951631964, + 22.38615665544996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2896.4332442568702, + 1691.7509951631964, + 22.38615665544996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2899.0313204682234, + 1690.2509951631964, + 22.38615665544996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2901.6293966795765, + 1688.7509951631964, + 22.38615665544996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2904.2274728909297, + 1687.2509951631964, + 22.38615665544996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2906.825549102283, + 1685.7509951631964, + 22.38615665544996 + ], + "type": "turn left", + "value": 30, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2906.825549102283, + 1685.7509951631964, + 22.38615665544996 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931673 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2906.825549102283, + 1685.7509951631964, + 22.38615665544996 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948684 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2906.825549102283, + 1682.7509951631964, + 22.38615665544996 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2906.825549102283, + 1679.7509951631964, + 22.38615665544996 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2906.825549102283, + 1676.7509951631964, + 22.38615665544996 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2906.825549102283, + 1673.7509951631964, + 22.38615665544996 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2906.825549102283, + 1670.7509951631964, + 22.38615665544996 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2906.825549102283, + 1667.7509951631964, + 22.38615665544996 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2906.825549102283, + 1664.7509951631964, + 22.38615665544996 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2906.825549102283, + 1661.7509951631964, + 22.38615665544996 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -2906.825549102283, + 1658.7509951631964, + 22.38615665544996 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -2906.825549102283, + 1655.7509951631964, + 22.38615665544996 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -2906.825549102283, + 1652.7509951631964, + 22.38615665544996 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -2906.825549102283, + 1649.7509951631964, + 22.38615665544996 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -2906.825549102283, + 1646.7509951631964, + 22.38615665544996 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -2906.825549102283, + 1643.7509951631964, + 22.38615665544996 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -2906.825549102283, + 1640.7509951631964, + 22.38615665544996 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -2906.825549102283, + 1637.7509951631964, + 22.38615665544996 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -2906.825549102283, + 1637.7509951631964, + 22.38615665544996 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -2905.325549102283, + 1635.152918951843, + 22.38615665544996 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -2903.825549102283, + 1632.5548427404897, + 22.38615665544996 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -2902.325549102283, + 1629.9567665291363, + 22.38615665544996 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -2900.825549102283, + 1627.358690317783, + 22.38615665544996 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -2899.325549102283, + 1624.7606141064296, + 22.38615665544996 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -2897.825549102283, + 1622.1625378950762, + 22.38615665544996 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -2896.325549102283, + 1619.5644616837228, + 22.38615665544996 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -2894.825549102283, + 1616.9663854723694, + 22.38615665544996 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -2893.325549102283, + 1614.368309261016, + 22.38615665544996 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -2893.325549102283, + 1614.368309261016, + 22.38615665544996 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -2893.325549102283, + 1611.368309261016, + 22.38615665544996 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -2893.325549102283, + 1608.368309261016, + 22.38615665544996 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -2893.325549102283, + 1605.368309261016, + 22.38615665544996 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -2893.325549102283, + 1602.368309261016, + 22.38615665544996 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -2893.325549102283, + 1599.368309261016, + 22.38615665544996 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -2893.325549102283, + 1596.368309261016, + 22.38615665544996 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -2893.325549102283, + 1593.368309261016, + 22.38615665544996 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -2893.325549102283, + 1590.368309261016, + 22.38615665544996 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2896.0, + 1576.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_19-44-38_991742780/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_19-44-38_991742780/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8c5e54caec0b33bf27af9bdc5142d49d55a1b1c0 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_19-44-38_991742780/pose.jsonl @@ -0,0 +1,574 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3446.728517964905, + 1260.0196183833932, + 27.271003361083896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3449.728517964905, + 1260.0196183833932, + 27.271003361083896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3452.728517964905, + 1260.0196183833932, + 27.271003361083896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3455.728517964905, + 1260.0196183833932, + 27.271003361083896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3458.728517964905, + 1260.0196183833932, + 27.271003361083896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3461.728517964905, + 1260.0196183833932, + 27.271003361083896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3464.728517964905, + 1260.0196183833932, + 27.271003361083896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3467.728517964905, + 1260.0196183833932, + 27.271003361083896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 3470.728517964905, + 1260.0196183833932, + 27.271003361083896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 3473.728517964905, + 1260.0196183833932, + 27.271003361083896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 3476.728517964905, + 1260.0196183833932, + 27.271003361083896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 3479.728517964905, + 1260.0196183833932, + 27.271003361083896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 3482.728517964905, + 1260.0196183833932, + 27.271003361083896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 3485.728517964905, + 1260.0196183833932, + 27.271003361083896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 3488.728517964905, + 1260.0196183833932, + 27.271003361083896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 3491.728517964905, + 1260.0196183833932, + 27.271003361083896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 3494.728517964905, + 1260.0196183833932, + 27.271003361083896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 3497.728517964905, + 1260.0196183833932, + 27.271003361083896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 3500.728517964905, + 1260.0196183833932, + 27.271003361083896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 3503.728517964905, + 1260.0196183833932, + 27.271003361083896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 3506.728517964905, + 1260.0196183833932, + 27.271003361083896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 3509.728517964905, + 1260.0196183833932, + 27.271003361083896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 3512.728517964905, + 1260.0196183833932, + 27.271003361083896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 3515.728517964905, + 1260.0196183833932, + 27.271003361083896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 3518.728517964905, + 1260.0196183833932, + 27.271003361083896 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 3518.728517964905, + 1260.0196183833932, + 27.271003361083896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 3521.3265941762584, + 1261.5196183833932, + 27.271003361083896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 3523.9246703876115, + 1263.0196183833932, + 27.271003361083896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 3526.5227465989647, + 1264.5196183833932, + 27.271003361083896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 3529.120822810318, + 1266.0196183833932, + 27.271003361083896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 3531.718899021671, + 1267.5196183833932, + 27.271003361083896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 3534.316975233024, + 1269.0196183833932, + 27.271003361083896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 3536.9150514443772, + 1270.5196183833932, + 27.271003361083896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 3539.5131276557304, + 1272.0196183833932, + 27.271003361083896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 3542.1112038670835, + 1273.5196183833932, + 27.271003361083896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 3544.7092800784367, + 1275.0196183833932, + 27.271003361083896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 3547.30735628979, + 1276.5196183833932, + 27.271003361083896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 3549.905432501143, + 1278.0196183833932, + 27.271003361083896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 3552.503508712496, + 1279.5196183833932, + 27.271003361083896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 3555.1015849238493, + 1281.0196183833932, + 27.271003361083896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 3557.6996611352024, + 1282.5196183833932, + 27.271003361083896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 3560.2977373465556, + 1284.0196183833932, + 27.271003361083896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 3562.8958135579087, + 1285.5196183833932, + 27.271003361083896 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755983272 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3612.0, + 1292.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_19-46-4_336728279/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_19-46-4_336728279/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a88a53af73d4b57760b3b89d27e813398bddebfd --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_19-46-4_336728279/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1364.0969998909995, + -1420.5563999961612, + 37.62428285400012 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1366.695076102353, + -1422.0563999961612, + 37.62428285400012 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1369.2931523137063, + -1423.5563999961612, + 37.62428285400012 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1371.8912285250597, + -1425.0563999961612, + 37.62428285400012 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1374.489304736413, + -1426.5563999961612, + 37.62428285400012 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1377.0873809477664, + -1428.0563999961612, + 37.62428285400012 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1379.6854571591198, + -1429.5563999961612, + 37.62428285400012 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1382.2835333704732, + -1431.0563999961612, + 37.62428285400012 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1384.8816095818265, + -1432.5563999961612, + 37.62428285400012 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1387.47968579318, + -1434.0563999961612, + 37.62428285400012 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1390.0777620045333, + -1435.5563999961612, + 37.62428285400012 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1392.6758382158866, + -1437.0563999961612, + 37.62428285400012 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1395.27391442724, + -1438.5563999961612, + 37.62428285400012 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1397.8719906385934, + -1440.0563999961612, + 37.62428285400012 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1400.4700668499468, + -1441.5563999961612, + 37.62428285400012 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1403.0681430613001, + -1443.0563999961612, + 37.62428285400012 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1405.6662192726535, + -1444.5563999961612, + 37.62428285400012 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1408.2642954840069, + -1446.0563999961612, + 37.62428285400012 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1410.8623716953603, + -1447.5563999961612, + 37.62428285400012 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1413.4604479067136, + -1449.0563999961612, + 37.62428285400012 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1416.058524118067, + -1450.5563999961612, + 37.62428285400012 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1418.6566003294204, + -1452.0563999961612, + 37.62428285400012 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1421.2546765407737, + -1453.5563999961612, + 37.62428285400012 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1423.8527527521271, + -1455.0563999961612, + 37.62428285400012 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1426.4508289634805, + -1456.5563999961612, + 37.62428285400012 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1429.0489051748339, + -1458.0563999961612, + 37.62428285400012 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1431.6469813861872, + -1459.5563999961612, + 37.62428285400012 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1434.2450575975406, + -1461.0563999961612, + 37.62428285400012 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1436.843133808894, + -1462.5563999961612, + 37.62428285400012 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1439.4412100202474, + -1464.0563999961612, + 37.62428285400012 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1442.0392862316007, + -1465.5563999961612, + 37.62428285400012 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1444.637362442954, + -1467.0563999961612, + 37.62428285400012 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1447.2354386543075, + -1468.5563999961612, + 37.62428285400012 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1449.8335148656608, + -1470.0563999961612, + 37.62428285400012 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1449.8335148656608, + -1470.0563999961612, + 37.62428285400012 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1451.3335148656608, + -1472.6544762075146, + 37.62428285400012 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1452.8335148656608, + -1475.252552418868, + 37.62428285400012 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1454.3335148656608, + -1477.8506286302213, + 37.62428285400012 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1455.8335148656608, + -1480.4487048415747, + 37.62428285400012 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1457.3335148656608, + -1483.046781052928, + 37.62428285400012 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1458.8335148656608, + -1485.6448572642814, + 37.62428285400012 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1460.3335148656608, + -1488.2429334756348, + 37.62428285400012 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1461.8335148656608, + -1490.8410096869882, + 37.62428285400012 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1463.3335148656608, + -1493.4390858983415, + 37.62428285400012 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1464.8335148656608, + -1496.037162109695, + 37.62428285400012 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1466.3335148656608, + -1498.6352383210483, + 37.62428285400012 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1467.8335148656608, + -1501.2333145324017, + 37.62428285400012 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1492.0, + -1524.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_19-5-23_831220360/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_19-5-23_831220360/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6044da12bb8e2c621e8905fbe978f53dcfbf6550 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_19-5-23_831220360/pose.jsonl @@ -0,0 +1,847 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3478.9047826499614, + 298.83353056735587, + 26.331725105443333 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3476.306706438608, + 300.33353056735587, + 26.331725105443333 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3473.708630227255, + 301.83353056735587, + 26.331725105443333 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3471.110554015902, + 303.33353056735587, + 26.331725105443333 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3468.512477804549, + 304.83353056735587, + 26.331725105443333 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3465.9144015931956, + 306.33353056735587, + 26.331725105443333 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3463.3163253818425, + 307.83353056735587, + 26.331725105443333 + ], + "type": "turn right", + "value": 30, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3463.3163253818425, + 307.83353056735587, + 26.331725105443333 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931673 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 3461.8163253818425, + 310.4316067787092, + 26.331725105443333 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 3460.3163253818425, + 313.0296829900625, + 26.331725105443333 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 3458.8163253818425, + 315.6277592014158, + 26.331725105443333 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 3457.3163253818425, + 318.22583541276913, + 26.331725105443333 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 3455.8163253818425, + 320.82391162412245, + 26.331725105443333 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 3454.3163253818425, + 323.42198783547576, + 26.331725105443333 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 3452.8163253818425, + 326.0200640468291, + 26.331725105443333 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 3452.8163253818425, + 326.0200640468291, + 26.331725105443333 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 3452.8163253818425, + 329.0200640468291, + 26.331725105443333 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 3452.8163253818425, + 329.0200640468291, + 26.331725105443333 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 3452.8163253818425, + 329.0200640468291, + 26.331725105443333 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 3450.2182491704893, + 330.5200640468291, + 26.331725105443333 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 3447.620172959136, + 332.0200640468291, + 26.331725105443333 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 3445.022096747783, + 333.5200640468291, + 26.331725105443333 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 3442.42402053643, + 335.0200640468291, + 26.331725105443333 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 3442.42402053643, + 335.0200640468291, + 26.331725105443333 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535897647 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 3439.42402053643, + 335.0200640468291, + 26.331725105443333 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 3436.42402053643, + 335.0200640468291, + 26.331725105443333 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 3433.42402053643, + 335.0200640468291, + 26.331725105443333 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 3430.42402053643, + 335.0200640468291, + 26.331725105443333 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 3427.42402053643, + 335.0200640468291, + 26.331725105443333 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 3424.42402053643, + 335.0200640468291, + 26.331725105443333 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 3421.42402053643, + 335.0200640468291, + 26.331725105443333 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 3418.42402053643, + 335.0200640468291, + 26.331725105443333 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 3415.42402053643, + 335.0200640468291, + 26.331725105443333 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 3412.42402053643, + 335.0200640468291, + 26.331725105443333 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 3409.42402053643, + 335.0200640468291, + 26.331725105443333 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 3406.42402053643, + 335.0200640468291, + 26.331725105443333 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 3403.42402053643, + 335.0200640468291, + 26.331725105443333 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 3400.42402053643, + 335.0200640468291, + 26.331725105443333 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 3397.42402053643, + 335.0200640468291, + 26.331725105443333 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 3394.42402053643, + 335.0200640468291, + 26.331725105443333 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 3391.42402053643, + 335.0200640468291, + 26.331725105443333 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 3388.42402053643, + 335.0200640468291, + 26.331725105443333 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 3388.42402053643, + 335.0200640468291, + 26.331725105443333 + ], + "type": "turn left", + "value": 30, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 3388.42402053643, + 335.0200640468291, + 26.331725105443333 + ], + "type": "go straight", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 3386.92402053643, + 332.42198783547576, + 26.331725105443333 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 3385.42402053643, + 329.82391162412245, + 26.331725105443333 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 3383.92402053643, + 327.22583541276913, + 26.331725105443333 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 3382.42402053643, + 324.6277592014158, + 26.331725105443333 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 3382.42402053643, + 324.6277592014158, + 26.331725105443333 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 3382.42402053643, + 321.6277592014158, + 26.331725105443333 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 3382.42402053643, + 318.6277592014158, + 26.331725105443333 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 3382.42402053643, + 315.6277592014158, + 26.331725105443333 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 3382.42402053643, + 312.6277592014158, + 26.331725105443333 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 3382.42402053643, + 309.6277592014158, + 26.331725105443333 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 3382.42402053643, + 309.6277592014158, + 26.331725105443333 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 3380.92402053643, + 307.0296829900625, + 26.331725105443333 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 3379.42402053643, + 304.4316067787092, + 26.331725105443333 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 3377.92402053643, + 301.83353056735587, + 26.331725105443333 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 3376.42402053643, + 299.23545435600255, + 26.331725105443333 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 3374.92402053643, + 296.63737814464923, + 26.331725105443333 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 3374.92402053643, + 296.63737814464923, + 26.331725105443333 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 3372.3259443250768, + 295.13737814464923, + 26.331725105443333 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 3369.7278681137236, + 293.63737814464923, + 26.331725105443333 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 3367.1297919023705, + 292.13737814464923, + 26.331725105443333 + ], + "type": "stop", + "value": 0, + "yaw": -2.617993877991466 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3328.0, + 288.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_19-50-23_408671759/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_19-50-23_408671759/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ead8bc09403805616af27ba6f23ffce1f39cf072 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_19-50-23_408671759/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1339.1729489528584, + -553.7937732694033, + 30.870293215922636 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1340.6729489528584, + -551.19569705805, + 30.870293215922636 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1342.1729489528584, + -548.5976208466966, + 30.870293215922636 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1343.6729489528584, + -545.9995446353432, + 30.870293215922636 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1345.1729489528584, + -543.4014684239899, + 30.870293215922636 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1346.6729489528584, + -540.8033922126365, + 30.870293215922636 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1348.1729489528584, + -538.2053160012831, + 30.870293215922636 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1349.6729489528584, + -535.6072397899297, + 30.870293215922636 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1351.1729489528584, + -533.0091635785764, + 30.870293215922636 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1352.6729489528584, + -530.411087367223, + 30.870293215922636 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1354.1729489528584, + -527.8130111558696, + 30.870293215922636 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1355.6729489528584, + -525.2149349445162, + 30.870293215922636 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1357.1729489528584, + -522.6168587331629, + 30.870293215922636 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1358.6729489528584, + -520.0187825218095, + 30.870293215922636 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1360.1729489528584, + -517.4207063104561, + 30.870293215922636 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1360.1729489528584, + -517.4207063104561, + 30.870293215922636 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1360.1729489528584, + -514.4207063104561, + 30.870293215922636 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1360.1729489528584, + -511.4207063104561, + 30.870293215922636 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1360.1729489528584, + -508.4207063104561, + 30.870293215922636 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1360.1729489528584, + -505.4207063104561, + 30.870293215922636 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1360.1729489528584, + -502.4207063104561, + 30.870293215922636 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1360.1729489528584, + -499.4207063104561, + 30.870293215922636 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1360.1729489528584, + -496.4207063104561, + 30.870293215922636 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1360.1729489528584, + -493.4207063104561, + 30.870293215922636 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1360.1729489528584, + -490.4207063104561, + 30.870293215922636 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1360.1729489528584, + -487.4207063104561, + 30.870293215922636 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1360.1729489528584, + -484.4207063104561, + 30.870293215922636 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1360.1729489528584, + -481.4207063104561, + 30.870293215922636 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1360.1729489528584, + -478.4207063104561, + 30.870293215922636 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1360.1729489528584, + -475.4207063104561, + 30.870293215922636 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1360.1729489528584, + -472.4207063104561, + 30.870293215922636 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1360.1729489528584, + -469.4207063104561, + 30.870293215922636 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1360.1729489528584, + -466.4207063104561, + 30.870293215922636 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1360.1729489528584, + -463.4207063104561, + 30.870293215922636 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1360.1729489528584, + -460.4207063104561, + 30.870293215922636 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1360.1729489528584, + -457.4207063104561, + 30.870293215922636 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1360.1729489528584, + -457.4207063104561, + 30.870293215922636 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1361.6729489528584, + -454.8226300991028, + 30.870293215922636 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1363.1729489528584, + -452.2245538877495, + 30.870293215922636 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1364.6729489528584, + -449.6264776763962, + 30.870293215922636 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1366.1729489528584, + -447.02840146504286, + 30.870293215922636 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1367.6729489528584, + -444.43032525368955, + 30.870293215922636 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1369.1729489528584, + -441.83224904233623, + 30.870293215922636 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1370.6729489528584, + -439.2341728309829, + 30.870293215922636 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1372.1729489528584, + -436.6360966196296, + 30.870293215922636 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1372.1729489528584, + -436.6360966196296, + 30.870293215922636 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1372.1729489528584, + -433.6360966196296, + 30.870293215922636 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1372.1729489528584, + -430.6360966196296, + 30.870293215922636 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1372.1729489528584, + -427.6360966196296, + 30.870293215922636 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1372.1729489528584, + -424.6360966196296, + 30.870293215922636 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1372.1729489528584, + -421.6360966196296, + 30.870293215922636 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1376.0, + -400.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_19-58-39_1759726503/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_19-58-39_1759726503/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4163ff36e9cadcb1657bda4c70da85799669e43a --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_19-58-39_1759726503/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3066.7822157388646, + -2605.6867882987704, + 35.36395086940523 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3065.2822157388646, + -2608.2848645101235, + 35.36395086940523 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3063.7822157388646, + -2610.8829407214766, + 35.36395086940523 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3062.2822157388646, + -2613.48101693283, + 35.36395086940523 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3060.7822157388646, + -2616.079093144183, + 35.36395086940523 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3059.2822157388646, + -2618.677169355536, + 35.36395086940523 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3057.7822157388646, + -2621.275245566889, + 35.36395086940523 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3056.2822157388646, + -2623.8733217782424, + 35.36395086940523 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 3054.7822157388646, + -2626.4713979895955, + 35.36395086940523 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 3053.2822157388646, + -2629.0694742009487, + 35.36395086940523 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 3051.7822157388646, + -2631.667550412302, + 35.36395086940523 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 3050.2822157388646, + -2634.265626623655, + 35.36395086940523 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 3048.7822157388646, + -2636.863702835008, + 35.36395086940523 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 3047.2822157388646, + -2639.4617790463612, + 35.36395086940523 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 3045.7822157388646, + -2642.0598552577144, + 35.36395086940523 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 3044.2822157388646, + -2644.6579314690675, + 35.36395086940523 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 3042.7822157388646, + -2647.2560076804207, + 35.36395086940523 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 3041.2822157388646, + -2649.854083891774, + 35.36395086940523 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 3039.7822157388646, + -2652.452160103127, + 35.36395086940523 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 3038.2822157388646, + -2655.05023631448, + 35.36395086940523 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 3036.7822157388646, + -2657.6483125258333, + 35.36395086940523 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 3035.2822157388646, + -2660.2463887371864, + 35.36395086940523 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 3033.7822157388646, + -2662.8444649485396, + 35.36395086940523 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 3032.2822157388646, + -2665.4425411598927, + 35.36395086940523 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 3030.7822157388646, + -2668.040617371246, + 35.36395086940523 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 3029.2822157388646, + -2670.638693582599, + 35.36395086940523 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 3027.7822157388646, + -2673.236769793952, + 35.36395086940523 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 3026.2822157388646, + -2675.8348460053053, + 35.36395086940523 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 3024.7822157388646, + -2678.4329222166584, + 35.36395086940523 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 3023.2822157388646, + -2681.0309984280116, + 35.36395086940523 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 3021.7822157388646, + -2683.6290746393647, + 35.36395086940523 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 3021.7822157388646, + -2683.6290746393647, + 35.36395086940523 + ], + "type": "go straight", + "value": 3, + "yaw": -1.570796326794925 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 3021.7822157388646, + -2686.6290746393647, + 35.36395086940523 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 3021.7822157388646, + -2689.6290746393647, + 35.36395086940523 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 3021.7822157388646, + -2692.6290746393647, + 35.36395086940523 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 3021.7822157388646, + -2695.6290746393647, + 35.36395086940523 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 3021.7822157388646, + -2698.6290746393647, + 35.36395086940523 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 3021.7822157388646, + -2701.6290746393647, + 35.36395086940523 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 3021.7822157388646, + -2704.6290746393647, + 35.36395086940523 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 3021.7822157388646, + -2707.6290746393647, + 35.36395086940523 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 3021.7822157388646, + -2710.6290746393647, + 35.36395086940523 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 3021.7822157388646, + -2713.6290746393647, + 35.36395086940523 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 3021.7822157388646, + -2716.6290746393647, + 35.36395086940523 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 3021.7822157388646, + -2719.6290746393647, + 35.36395086940523 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 3021.7822157388646, + -2722.6290746393647, + 35.36395086940523 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 3021.7822157388646, + -2725.6290746393647, + 35.36395086940523 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 3021.7822157388646, + -2728.6290746393647, + 35.36395086940523 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 3021.7822157388646, + -2731.6290746393647, + 35.36395086940523 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 3021.7822157388646, + -2734.6290746393647, + 35.36395086940523 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 3021.7822157388646, + -2737.6290746393647, + 35.36395086940523 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 3021.7822157388646, + -2740.6290746393647, + 35.36395086940523 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3016.0, + -2764.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_2-11-25_1022089159/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_2-11-25_1022089159/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a95f6266012ec2e0bc1804f0777c45f8243962ef --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_2-11-25_1022089159/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3996.180988921685, + -807.433088456919, + 15.23046820583139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3999.180988921685, + -807.433088456919, + 15.23046820583139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4002.180988921685, + -807.433088456919, + 15.23046820583139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4005.180988921685, + -807.433088456919, + 15.23046820583139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4008.180988921685, + -807.433088456919, + 15.23046820583139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4011.180988921685, + -807.433088456919, + 15.23046820583139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4014.180988921685, + -807.433088456919, + 15.23046820583139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4017.180988921685, + -807.433088456919, + 15.23046820583139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4020.180988921685, + -807.433088456919, + 15.23046820583139 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4020.180988921685, + -807.433088456919, + 15.23046820583139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4022.7790651330383, + -805.933088456919, + 15.23046820583139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4025.3771413443915, + -804.433088456919, + 15.23046820583139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4027.9752175557446, + -802.933088456919, + 15.23046820583139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4030.5732937670978, + -801.433088456919, + 15.23046820583139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4033.171369978451, + -799.933088456919, + 15.23046820583139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4035.769446189804, + -798.433088456919, + 15.23046820583139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 4038.367522401157, + -796.933088456919, + 15.23046820583139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 4040.9655986125103, + -795.433088456919, + 15.23046820583139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 4043.5636748238635, + -793.933088456919, + 15.23046820583139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 4046.1617510352166, + -792.433088456919, + 15.23046820583139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 4048.75982724657, + -790.933088456919, + 15.23046820583139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 4051.357903457923, + -789.433088456919, + 15.23046820583139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 4053.955979669276, + -787.933088456919, + 15.23046820583139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 4056.554055880629, + -786.433088456919, + 15.23046820583139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 4059.1521320919824, + -784.933088456919, + 15.23046820583139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 4061.7502083033355, + -783.433088456919, + 15.23046820583139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 4064.3482845146887, + -781.933088456919, + 15.23046820583139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 4066.946360726042, + -780.433088456919, + 15.23046820583139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 4069.544436937395, + -778.933088456919, + 15.23046820583139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 4072.142513148748, + -777.433088456919, + 15.23046820583139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 4074.7405893601012, + -775.933088456919, + 15.23046820583139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 4077.3386655714544, + -774.433088456919, + 15.23046820583139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 4079.9367417828075, + -772.933088456919, + 15.23046820583139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 4082.5348179941607, + -771.433088456919, + 15.23046820583139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 4085.132894205514, + -769.933088456919, + 15.23046820583139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 4087.730970416867, + -768.433088456919, + 15.23046820583139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 4090.32904662822, + -766.933088456919, + 15.23046820583139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 4092.9271228395733, + -765.433088456919, + 15.23046820583139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 4095.5251990509264, + -763.933088456919, + 15.23046820583139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 4098.12327526228, + -762.433088456919, + 15.23046820583139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982515 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 4100.721351473633, + -760.933088456919, + 15.23046820583139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 4103.319427684986, + -759.433088456919, + 15.23046820583139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 4105.917503896339, + -757.933088456919, + 15.23046820583139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 4108.515580107693, + -756.433088456919, + 15.23046820583139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 4111.113656319046, + -754.933088456919, + 15.23046820583139 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755983272 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4140.0, + -744.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_2-16-48_217927335/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_2-16-48_217927335/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..62701795fc419b9724822e6ec791768becc4c1ec --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_2-16-48_217927335/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -934.7116625872399, + -2389.537491542745, + 39.10268460328531 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -931.7116625872399, + -2389.537491542745, + 39.10268460328531 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -928.7116625872399, + -2389.537491542745, + 39.10268460328531 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -925.7116625872399, + -2389.537491542745, + 39.10268460328531 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -922.7116625872399, + -2389.537491542745, + 39.10268460328531 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -919.7116625872399, + -2389.537491542745, + 39.10268460328531 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -916.7116625872399, + -2389.537491542745, + 39.10268460328531 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -913.7116625872399, + -2389.537491542745, + 39.10268460328531 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -910.7116625872399, + -2389.537491542745, + 39.10268460328531 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -907.7116625872399, + -2389.537491542745, + 39.10268460328531 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -904.7116625872399, + -2389.537491542745, + 39.10268460328531 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -901.7116625872399, + -2389.537491542745, + 39.10268460328531 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -898.7116625872399, + -2389.537491542745, + 39.10268460328531 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -895.7116625872399, + -2389.537491542745, + 39.10268460328531 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -892.7116625872399, + -2389.537491542745, + 39.10268460328531 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -889.7116625872399, + -2389.537491542745, + 39.10268460328531 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -886.7116625872399, + -2389.537491542745, + 39.10268460328531 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -883.7116625872399, + -2389.537491542745, + 39.10268460328531 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -880.7116625872399, + -2389.537491542745, + 39.10268460328531 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -877.7116625872399, + -2389.537491542745, + 39.10268460328531 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -874.7116625872399, + -2389.537491542745, + 39.10268460328531 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -871.7116625872399, + -2389.537491542745, + 39.10268460328531 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -868.7116625872399, + -2389.537491542745, + 39.10268460328531 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -868.7116625872399, + -2389.537491542745, + 39.10268460328531 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -866.1135863758866, + -2391.037491542745, + 39.10268460328531 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -863.5155101645332, + -2392.537491542745, + 39.10268460328531 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -860.9174339531799, + -2394.037491542745, + 39.10268460328531 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -858.3193577418265, + -2395.537491542745, + 39.10268460328531 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -855.7212815304731, + -2397.037491542745, + 39.10268460328531 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -853.1232053191197, + -2398.537491542745, + 39.10268460328531 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -850.5251291077664, + -2400.037491542745, + 39.10268460328531 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -847.927052896413, + -2401.537491542745, + 39.10268460328531 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -845.3289766850596, + -2403.037491542745, + 39.10268460328531 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -842.7309004737062, + -2404.537491542745, + 39.10268460328531 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -840.1328242623529, + -2406.037491542745, + 39.10268460328531 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -837.5347480509995, + -2407.537491542745, + 39.10268460328531 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -834.9366718396461, + -2409.037491542745, + 39.10268460328531 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -832.3385956282928, + -2410.537491542745, + 39.10268460328531 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -829.7405194169394, + -2412.037491542745, + 39.10268460328531 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -827.142443205586, + -2413.537491542745, + 39.10268460328531 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -824.5443669942326, + -2415.037491542745, + 39.10268460328531 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -824.5443669942326, + -2415.037491542745, + 39.10268460328531 + ], + "type": "go straight", + "value": 3, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -821.5443669942326, + -2415.037491542745, + 39.10268460328531 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -818.5443669942326, + -2415.037491542745, + 39.10268460328531 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -815.5443669942326, + -2415.037491542745, + 39.10268460328531 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -812.5443669942326, + -2415.037491542745, + 39.10268460328531 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -809.5443669942326, + -2415.037491542745, + 39.10268460328531 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -772.0, + -2424.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_2-18-41_1738909365/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_2-18-41_1738909365/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dac9416772c588dcfe5f883adddf29bd3713aa4b --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_2-18-41_1738909365/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1187.9969534134211, + -2778.477236830366, + 39.68886767162333 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1190.5950296247745, + -2776.977236830366, + 39.68886767162333 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1193.1931058361279, + -2775.477236830366, + 39.68886767162333 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1195.7911820474812, + -2773.977236830366, + 39.68886767162333 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1198.3892582588346, + -2772.477236830366, + 39.68886767162333 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1200.987334470188, + -2770.977236830366, + 39.68886767162333 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1203.5854106815414, + -2769.477236830366, + 39.68886767162333 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1206.1834868928947, + -2767.977236830366, + 39.68886767162333 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1208.781563104248, + -2766.477236830366, + 39.68886767162333 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1211.3796393156015, + -2764.977236830366, + 39.68886767162333 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1213.9777155269549, + -2763.477236830366, + 39.68886767162333 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1216.5757917383082, + -2761.977236830366, + 39.68886767162333 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1219.1738679496616, + -2760.477236830366, + 39.68886767162333 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1221.771944161015, + -2758.977236830366, + 39.68886767162333 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1224.3700203723683, + -2757.477236830366, + 39.68886767162333 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1226.9680965837217, + -2755.977236830366, + 39.68886767162333 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1229.566172795075, + -2754.477236830366, + 39.68886767162333 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1232.1642490064285, + -2752.977236830366, + 39.68886767162333 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1234.7623252177818, + -2751.477236830366, + 39.68886767162333 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1237.3604014291352, + -2749.977236830366, + 39.68886767162333 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1239.9584776404886, + -2748.477236830366, + 39.68886767162333 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1242.556553851842, + -2746.977236830366, + 39.68886767162333 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1245.1546300631953, + -2745.477236830366, + 39.68886767162333 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1247.7527062745487, + -2743.977236830366, + 39.68886767162333 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1250.350782485902, + -2742.477236830366, + 39.68886767162333 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1252.9488586972554, + -2740.977236830366, + 39.68886767162333 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1255.5469349086088, + -2739.477236830366, + 39.68886767162333 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1258.1450111199622, + -2737.977236830366, + 39.68886767162333 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1260.7430873313156, + -2736.477236830366, + 39.68886767162333 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1263.341163542669, + -2734.977236830366, + 39.68886767162333 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1265.9392397540223, + -2733.477236830366, + 39.68886767162333 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1268.5373159653757, + -2731.977236830366, + 39.68886767162333 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1268.5373159653757, + -2731.977236830366, + 39.68886767162333 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1271.5373159653757, + -2731.977236830366, + 39.68886767162333 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1274.5373159653757, + -2731.977236830366, + 39.68886767162333 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1277.5373159653757, + -2731.977236830366, + 39.68886767162333 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1280.5373159653757, + -2731.977236830366, + 39.68886767162333 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1283.5373159653757, + -2731.977236830366, + 39.68886767162333 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1286.5373159653757, + -2731.977236830366, + 39.68886767162333 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1289.5373159653757, + -2731.977236830366, + 39.68886767162333 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1292.5373159653757, + -2731.977236830366, + 39.68886767162333 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1295.5373159653757, + -2731.977236830366, + 39.68886767162333 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1298.5373159653757, + -2731.977236830366, + 39.68886767162333 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1301.5373159653757, + -2731.977236830366, + 39.68886767162333 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1304.5373159653757, + -2731.977236830366, + 39.68886767162333 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1307.5373159653757, + -2731.977236830366, + 39.68886767162333 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1310.5373159653757, + -2731.977236830366, + 39.68886767162333 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1313.5373159653757, + -2731.977236830366, + 39.68886767162333 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1316.5373159653757, + -2731.977236830366, + 39.68886767162333 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1319.5373159653757, + -2731.977236830366, + 39.68886767162333 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -1322.5373159653757, + -2731.977236830366, + 39.68886767162333 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -1325.5373159653757, + -2731.977236830366, + 39.68886767162333 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -1328.5373159653757, + -2731.977236830366, + 39.68886767162333 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1352.0, + -2724.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_2-21-55_1603591171/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_2-21-55_1603591171/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2a36c90062e3d3af365b4ba5d165c2c3227ba20a --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_2-21-55_1603591171/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1931.8804569434099, + -2974.842564847147, + 23.685125255352553 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1933.3804569434099, + -2972.244488635794, + 23.685125255352553 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1934.8804569434099, + -2969.6464124244408, + 23.685125255352553 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1936.3804569434099, + -2967.0483362130876, + 23.685125255352553 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1936.3804569434099, + -2967.0483362130876, + 23.685125255352553 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915224 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1938.9785331547632, + -2965.5483362130876, + 23.685125255352553 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1941.5766093661166, + -2964.0483362130876, + 23.685125255352553 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1944.17468557747, + -2962.5483362130876, + 23.685125255352553 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1946.7727617888233, + -2961.0483362130876, + 23.685125255352553 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1949.3708380001767, + -2959.5483362130876, + 23.685125255352553 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1951.96891421153, + -2958.0483362130876, + 23.685125255352553 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1954.5669904228835, + -2956.5483362130876, + 23.685125255352553 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1957.1650666342368, + -2955.0483362130876, + 23.685125255352553 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1959.7631428455902, + -2953.5483362130876, + 23.685125255352553 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1962.3612190569436, + -2952.0483362130876, + 23.685125255352553 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1964.959295268297, + -2950.5483362130876, + 23.685125255352553 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1967.5573714796503, + -2949.0483362130876, + 23.685125255352553 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1967.5573714796503, + -2949.0483362130876, + 23.685125255352553 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1970.5573714796503, + -2949.0483362130876, + 23.685125255352553 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1973.5573714796503, + -2949.0483362130876, + 23.685125255352553 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1976.5573714796503, + -2949.0483362130876, + 23.685125255352553 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1979.5573714796503, + -2949.0483362130876, + 23.685125255352553 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1982.5573714796503, + -2949.0483362130876, + 23.685125255352553 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1985.5573714796503, + -2949.0483362130876, + 23.685125255352553 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1988.5573714796503, + -2949.0483362130876, + 23.685125255352553 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1991.5573714796503, + -2949.0483362130876, + 23.685125255352553 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1994.5573714796503, + -2949.0483362130876, + 23.685125255352553 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1997.5573714796503, + -2949.0483362130876, + 23.685125255352553 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2000.5573714796503, + -2949.0483362130876, + 23.685125255352553 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2003.5573714796503, + -2949.0483362130876, + 23.685125255352553 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2006.5573714796503, + -2949.0483362130876, + 23.685125255352553 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2009.5573714796503, + -2949.0483362130876, + 23.685125255352553 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2012.5573714796503, + -2949.0483362130876, + 23.685125255352553 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2015.5573714796503, + -2949.0483362130876, + 23.685125255352553 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2018.5573714796503, + -2949.0483362130876, + 23.685125255352553 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -2021.5573714796503, + -2949.0483362130876, + 23.685125255352553 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -2024.5573714796503, + -2949.0483362130876, + 23.685125255352553 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -2027.5573714796503, + -2949.0483362130876, + 23.685125255352553 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -2030.5573714796503, + -2949.0483362130876, + 23.685125255352553 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -2033.5573714796503, + -2949.0483362130876, + 23.685125255352553 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -2036.5573714796503, + -2949.0483362130876, + 23.685125255352553 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -2039.5573714796503, + -2949.0483362130876, + 23.685125255352553 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -2042.5573714796503, + -2949.0483362130876, + 23.685125255352553 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -2045.5573714796503, + -2949.0483362130876, + 23.685125255352553 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -2048.55737147965, + -2949.0483362130876, + 23.685125255352553 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -2051.55737147965, + -2949.0483362130876, + 23.685125255352553 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -2054.55737147965, + -2949.0483362130876, + 23.685125255352553 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -2057.55737147965, + -2949.0483362130876, + 23.685125255352553 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -2060.55737147965, + -2949.0483362130876, + 23.685125255352553 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -2063.55737147965, + -2949.0483362130876, + 23.685125255352553 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -2066.55737147965, + -2949.0483362130876, + 23.685125255352553 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -2069.55737147965, + -2949.0483362130876, + 23.685125255352553 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2088.0, + -2944.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_2-22-58_372160269/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_2-22-58_372160269/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ce47d43e5abcffdb304c1dd81b8f8fea5e988322 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_2-22-58_372160269/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 486.263312022091, + -1297.6591342260408, + 31.612135472285132 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 484.763312022091, + -1300.2572104373942, + 31.612135472285132 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 483.263312022091, + -1302.8552866487476, + 31.612135472285132 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 481.763312022091, + -1305.453362860101, + 31.612135472285132 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 480.263312022091, + -1308.0514390714543, + 31.612135472285132 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 478.763312022091, + -1310.6495152828077, + 31.612135472285132 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 477.263312022091, + -1313.247591494161, + 31.612135472285132 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 475.763312022091, + -1315.8456677055144, + 31.612135472285132 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 474.263312022091, + -1318.4437439168678, + 31.612135472285132 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 472.763312022091, + -1321.0418201282212, + 31.612135472285132 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 471.263312022091, + -1323.6398963395745, + 31.612135472285132 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 469.763312022091, + -1326.237972550928, + 31.612135472285132 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 468.263312022091, + -1328.8360487622813, + 31.612135472285132 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 466.763312022091, + -1331.4341249736347, + 31.612135472285132 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 465.263312022091, + -1334.032201184988, + 31.612135472285132 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 463.763312022091, + -1336.6302773963414, + 31.612135472285132 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 462.263312022091, + -1339.2283536076948, + 31.612135472285132 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 460.763312022091, + -1341.8264298190481, + 31.612135472285132 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 459.263312022091, + -1344.4245060304015, + 31.612135472285132 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 457.763312022091, + -1347.022582241755, + 31.612135472285132 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 456.263312022091, + -1349.6206584531083, + 31.612135472285132 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 454.763312022091, + -1352.2187346644616, + 31.612135472285132 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 453.263312022091, + -1354.816810875815, + 31.612135472285132 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 451.763312022091, + -1357.4148870871684, + 31.612135472285132 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 450.263312022091, + -1360.0129632985218, + 31.612135472285132 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 448.763312022091, + -1362.6110395098751, + 31.612135472285132 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 447.263312022091, + -1365.2091157212285, + 31.612135472285132 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 445.763312022091, + -1367.8071919325819, + 31.612135472285132 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 444.263312022091, + -1370.4052681439352, + 31.612135472285132 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 442.763312022091, + -1373.0033443552886, + 31.612135472285132 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 441.263312022091, + -1375.601420566642, + 31.612135472285132 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 439.763312022091, + -1378.1994967779954, + 31.612135472285132 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 438.263312022091, + -1380.7975729893487, + 31.612135472285132 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 436.763312022091, + -1383.395649200702, + 31.612135472285132 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 435.263312022091, + -1385.9937254120555, + 31.612135472285132 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 433.763312022091, + -1388.5918016234089, + 31.612135472285132 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 432.263312022091, + -1391.1898778347622, + 31.612135472285132 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 430.763312022091, + -1393.7879540461156, + 31.612135472285132 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 430.763312022091, + -1393.7879540461156, + 31.612135472285132 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 428.16523581073767, + -1395.2879540461156, + 31.612135472285132 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 425.56715959938435, + -1396.7879540461156, + 31.612135472285132 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 422.96908338803104, + -1398.2879540461156, + 31.612135472285132 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 420.3710071766777, + -1399.7879540461156, + 31.612135472285132 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 417.7729309653244, + -1401.2879540461156, + 31.612135472285132 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 415.1748547539711, + -1402.7879540461156, + 31.612135472285132 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 412.5767785426178, + -1404.2879540461156, + 31.612135472285132 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 409.97870233126446, + -1405.7879540461156, + 31.612135472285132 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 407.38062611991114, + -1407.2879540461156, + 31.612135472285132 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 404.7825499085578, + -1408.7879540461156, + 31.612135472285132 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 402.1844736972045, + -1410.2879540461156, + 31.612135472285132 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 399.5863974858512, + -1411.7879540461156, + 31.612135472285132 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 396.9883212744979, + -1413.2879540461156, + 31.612135472285132 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 380.0, + -1436.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_2-23-31_2013725218/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_2-23-31_2013725218/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..17c88eec6fc90cebf33eca906932759d57d1d9ab --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_2-23-31_2013725218/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 637.057970057833, + 1471.080024560445, + 37.46325577057611 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 634.057970057833, + 1471.080024560445, + 37.46325577057611 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 631.057970057833, + 1471.080024560445, + 37.46325577057611 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 628.057970057833, + 1471.080024560445, + 37.46325577057611 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 625.057970057833, + 1471.080024560445, + 37.46325577057611 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 622.057970057833, + 1471.080024560445, + 37.46325577057611 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 619.057970057833, + 1471.080024560445, + 37.46325577057611 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 616.057970057833, + 1471.080024560445, + 37.46325577057611 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 613.057970057833, + 1471.080024560445, + 37.46325577057611 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 610.057970057833, + 1471.080024560445, + 37.46325577057611 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 607.057970057833, + 1471.080024560445, + 37.46325577057611 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 604.057970057833, + 1471.080024560445, + 37.46325577057611 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 601.057970057833, + 1471.080024560445, + 37.46325577057611 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 598.057970057833, + 1471.080024560445, + 37.46325577057611 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 595.057970057833, + 1471.080024560445, + 37.46325577057611 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 592.057970057833, + 1471.080024560445, + 37.46325577057611 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 589.057970057833, + 1471.080024560445, + 37.46325577057611 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 586.057970057833, + 1471.080024560445, + 37.46325577057611 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 583.057970057833, + 1471.080024560445, + 37.46325577057611 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 580.057970057833, + 1471.080024560445, + 37.46325577057611 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 577.057970057833, + 1471.080024560445, + 37.46325577057611 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 574.057970057833, + 1471.080024560445, + 37.46325577057611 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 571.057970057833, + 1471.080024560445, + 37.46325577057611 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 568.057970057833, + 1471.080024560445, + 37.46325577057611 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 565.057970057833, + 1471.080024560445, + 37.46325577057611 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 562.057970057833, + 1471.080024560445, + 37.46325577057611 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 559.057970057833, + 1471.080024560445, + 37.46325577057611 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 556.057970057833, + 1471.080024560445, + 37.46325577057611 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 553.057970057833, + 1471.080024560445, + 37.46325577057611 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 550.057970057833, + 1471.080024560445, + 37.46325577057611 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 547.057970057833, + 1471.080024560445, + 37.46325577057611 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 544.057970057833, + 1471.080024560445, + 37.46325577057611 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 541.057970057833, + 1471.080024560445, + 37.46325577057611 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 538.057970057833, + 1471.080024560445, + 37.46325577057611 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 535.057970057833, + 1471.080024560445, + 37.46325577057611 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 532.057970057833, + 1471.080024560445, + 37.46325577057611 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 529.057970057833, + 1471.080024560445, + 37.46325577057611 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 526.057970057833, + 1471.080024560445, + 37.46325577057611 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 526.057970057833, + 1471.080024560445, + 37.46325577057611 + ], + "type": "turn left", + "value": 30, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 526.057970057833, + 1471.080024560445, + 37.46325577057611 + ], + "type": "go straight", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 524.557970057833, + 1468.4819483490917, + 37.46325577057611 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 523.057970057833, + 1465.8838721377383, + 37.46325577057611 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 521.557970057833, + 1463.285795926385, + 37.46325577057611 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 520.057970057833, + 1460.6877197150316, + 37.46325577057611 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 518.557970057833, + 1458.0896435036782, + 37.46325577057611 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 517.057970057833, + 1455.4915672923248, + 37.46325577057611 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 517.057970057833, + 1455.4915672923248, + 37.46325577057611 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 514.4598938464796, + 1453.9915672923248, + 37.46325577057611 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 511.86181763512633, + 1452.4915672923248, + 37.46325577057611 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 509.263741423773, + 1450.9915672923248, + 37.46325577057611 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 506.6656652124197, + 1449.4915672923248, + 37.46325577057611 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 504.0675890010664, + 1447.9915672923248, + 37.46325577057611 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 480.0, + 1444.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_2-27-39_932862806/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_2-27-39_932862806/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a755d61b8c6a7977783e329f12057d02c905de6c --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_2-27-39_932862806/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 910.5353631790738, + 217.37014907612698, + 32.88952944673508 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 907.9372869677204, + 215.87014907612698, + 32.88952944673508 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 905.339210756367, + 214.37014907612698, + 32.88952944673508 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 902.7411345450137, + 212.87014907612698, + 32.88952944673508 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 900.1430583336603, + 211.37014907612698, + 32.88952944673508 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 897.5449821223069, + 209.87014907612698, + 32.88952944673508 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 894.9469059109535, + 208.37014907612698, + 32.88952944673508 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 892.3488296996002, + 206.87014907612698, + 32.88952944673508 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 889.7507534882468, + 205.37014907612698, + 32.88952944673508 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 887.1526772768934, + 203.87014907612698, + 32.88952944673508 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 884.55460106554, + 202.37014907612698, + 32.88952944673508 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 884.55460106554, + 202.37014907612698, + 32.88952944673508 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 881.55460106554, + 202.37014907612698, + 32.88952944673508 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 878.55460106554, + 202.37014907612698, + 32.88952944673508 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 875.55460106554, + 202.37014907612698, + 32.88952944673508 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 872.55460106554, + 202.37014907612698, + 32.88952944673508 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 869.55460106554, + 202.37014907612698, + 32.88952944673508 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 866.55460106554, + 202.37014907612698, + 32.88952944673508 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 863.55460106554, + 202.37014907612698, + 32.88952944673508 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 860.55460106554, + 202.37014907612698, + 32.88952944673508 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 857.55460106554, + 202.37014907612698, + 32.88952944673508 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 854.55460106554, + 202.37014907612698, + 32.88952944673508 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 851.55460106554, + 202.37014907612698, + 32.88952944673508 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 848.55460106554, + 202.37014907612698, + 32.88952944673508 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 845.55460106554, + 202.37014907612698, + 32.88952944673508 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 842.55460106554, + 202.37014907612698, + 32.88952944673508 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 839.55460106554, + 202.37014907612698, + 32.88952944673508 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 836.55460106554, + 202.37014907612698, + 32.88952944673508 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 833.55460106554, + 202.37014907612698, + 32.88952944673508 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 830.55460106554, + 202.37014907612698, + 32.88952944673508 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 827.55460106554, + 202.37014907612698, + 32.88952944673508 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 824.55460106554, + 202.37014907612698, + 32.88952944673508 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 821.55460106554, + 202.37014907612698, + 32.88952944673508 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 818.55460106554, + 202.37014907612698, + 32.88952944673508 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 818.55460106554, + 202.37014907612698, + 32.88952944673508 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 815.9565248541867, + 200.87014907612698, + 32.88952944673508 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 813.3584486428333, + 199.37014907612698, + 32.88952944673508 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 810.7603724314799, + 197.87014907612698, + 32.88952944673508 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 808.1622962201266, + 196.37014907612698, + 32.88952944673508 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 805.5642200087732, + 194.87014907612698, + 32.88952944673508 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 802.9661437974198, + 193.37014907612698, + 32.88952944673508 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 800.3680675860664, + 191.87014907612698, + 32.88952944673508 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 797.7699913747131, + 190.37014907612698, + 32.88952944673508 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 795.1719151633597, + 188.87014907612698, + 32.88952944673508 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 792.5738389520063, + 187.37014907612698, + 32.88952944673508 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 789.975762740653, + 185.87014907612698, + 32.88952944673508 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 787.3776865292996, + 184.37014907612698, + 32.88952944673508 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 784.7796103179462, + 182.87014907612698, + 32.88952944673508 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 782.1815341065928, + 181.37014907612698, + 32.88952944673508 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 779.5834578952395, + 179.87014907612698, + 32.88952944673508 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 776.9853816838861, + 178.37014907612698, + 32.88952944673508 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 774.3873054725327, + 176.87014907612698, + 32.88952944673508 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 774.3873054725327, + 176.87014907612698, + 32.88952944673508 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 771.3873054725327, + 176.87014907612698, + 32.88952944673508 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 768.3873054725327, + 176.87014907612698, + 32.88952944673508 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 748.0, + 172.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_2-35-19_1135771559/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_2-35-19_1135771559/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4c3a252e985de1ac6c64f4e6998f477b98642b85 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_2-35-19_1135771559/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2199.5773421982344, + -2834.262002697863, + 19.31796306386031 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2196.9792659868813, + -2835.762002697863, + 19.31796306386031 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2194.381189775528, + -2837.262002697863, + 19.31796306386031 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2191.783113564175, + -2838.762002697863, + 19.31796306386031 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2189.185037352822, + -2840.262002697863, + 19.31796306386031 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2186.5869611414687, + -2841.762002697863, + 19.31796306386031 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2183.9888849301155, + -2843.262002697863, + 19.31796306386031 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2181.3908087187624, + -2844.762002697863, + 19.31796306386031 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2178.7927325074093, + -2846.262002697863, + 19.31796306386031 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2176.194656296056, + -2847.762002697863, + 19.31796306386031 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2173.596580084703, + -2849.262002697863, + 19.31796306386031 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2170.99850387335, + -2850.762002697863, + 19.31796306386031 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2168.4004276619967, + -2852.262002697863, + 19.31796306386031 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2165.8023514506435, + -2853.762002697863, + 19.31796306386031 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2163.2042752392904, + -2855.262002697863, + 19.31796306386031 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2160.6061990279372, + -2856.762002697863, + 19.31796306386031 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2158.008122816584, + -2858.262002697863, + 19.31796306386031 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2155.410046605231, + -2859.762002697863, + 19.31796306386031 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2152.811970393878, + -2861.262002697863, + 19.31796306386031 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2150.2138941825247, + -2862.762002697863, + 19.31796306386031 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2147.6158179711715, + -2864.262002697863, + 19.31796306386031 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2145.0177417598184, + -2865.762002697863, + 19.31796306386031 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2142.419665548465, + -2867.262002697863, + 19.31796306386031 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2139.821589337112, + -2868.762002697863, + 19.31796306386031 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2137.223513125759, + -2870.262002697863, + 19.31796306386031 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2137.223513125759, + -2870.262002697863, + 19.31796306386031 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196626 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2135.723513125759, + -2872.860078909216, + 19.31796306386031 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2134.223513125759, + -2875.4581551205692, + 19.31796306386031 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2132.723513125759, + -2878.0562313319224, + 19.31796306386031 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2131.223513125759, + -2880.6543075432755, + 19.31796306386031 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2129.723513125759, + -2883.2523837546287, + 19.31796306386031 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2128.223513125759, + -2885.850459965982, + 19.31796306386031 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2126.723513125759, + -2888.448536177335, + 19.31796306386031 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2125.223513125759, + -2891.046612388688, + 19.31796306386031 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2123.723513125759, + -2893.6446886000413, + 19.31796306386031 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -2122.223513125759, + -2896.2427648113944, + 19.31796306386031 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -2120.723513125759, + -2898.8408410227476, + 19.31796306386031 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -2119.223513125759, + -2901.4389172341007, + 19.31796306386031 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -2117.723513125759, + -2904.036993445454, + 19.31796306386031 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -2116.223513125759, + -2906.635069656807, + 19.31796306386031 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -2114.723513125759, + -2909.23314586816, + 19.31796306386031 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -2113.223513125759, + -2911.8312220795133, + 19.31796306386031 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -2111.723513125759, + -2914.4292982908664, + 19.31796306386031 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -2110.223513125759, + -2917.0273745022196, + 19.31796306386031 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -2108.723513125759, + -2919.6254507135727, + 19.31796306386031 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -2107.223513125759, + -2922.223526924926, + 19.31796306386031 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -2105.723513125759, + -2924.821603136279, + 19.31796306386031 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965694 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2088.0, + -2944.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_2-38-59_857490000/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_2-38-59_857490000/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6b5653757ec5e9fc308792b9291091a7f2edd313 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_2-38-59_857490000/pose.jsonl @@ -0,0 +1,561 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3544.1344149333045, + -2919.3804436128053, + 24.312333569347018 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3541.5363387219513, + -2920.8804436128053, + 24.312333569347018 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3538.938262510598, + -2922.3804436128053, + 24.312333569347018 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3536.340186299245, + -2923.8804436128053, + 24.312333569347018 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3536.340186299245, + -2923.8804436128053, + 24.312333569347018 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535897647 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3533.340186299245, + -2923.8804436128053, + 24.312333569347018 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3530.340186299245, + -2923.8804436128053, + 24.312333569347018 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3527.340186299245, + -2923.8804436128053, + 24.312333569347018 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 3524.340186299245, + -2923.8804436128053, + 24.312333569347018 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 3521.340186299245, + -2923.8804436128053, + 24.312333569347018 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 3518.340186299245, + -2923.8804436128053, + 24.312333569347018 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 3515.340186299245, + -2923.8804436128053, + 24.312333569347018 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 3512.340186299245, + -2923.8804436128053, + 24.312333569347018 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 3512.340186299245, + -2923.8804436128053, + 24.312333569347018 + ], + "type": "turn left", + "value": 30, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 3512.340186299245, + -2923.8804436128053, + 24.312333569347018 + ], + "type": "go straight", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 3510.840186299245, + -2926.4785198241584, + 24.312333569347018 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 3509.340186299245, + -2929.0765960355116, + 24.312333569347018 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 3507.840186299245, + -2931.6746722468647, + 24.312333569347018 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 3506.340186299245, + -2934.272748458218, + 24.312333569347018 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 3504.840186299245, + -2936.870824669571, + 24.312333569347018 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 3503.340186299245, + -2939.468900880924, + 24.312333569347018 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 3501.840186299245, + -2942.0669770922773, + 24.312333569347018 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 3500.340186299245, + -2944.6650533036304, + 24.312333569347018 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 3498.840186299245, + -2947.2631295149836, + 24.312333569347018 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 3497.340186299245, + -2949.8612057263367, + 24.312333569347018 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 3495.840186299245, + -2952.45928193769, + 24.312333569347018 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 3494.340186299245, + -2955.057358149043, + 24.312333569347018 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 3492.840186299245, + -2957.655434360396, + 24.312333569347018 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 3492.840186299245, + -2957.655434360396, + 24.312333569347018 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915224 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 3490.242110087892, + -2959.155434360396, + 24.312333569347018 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 3487.6440338765387, + -2960.655434360396, + 24.312333569347018 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 3485.0459576651856, + -2962.155434360396, + 24.312333569347018 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 3482.4478814538325, + -2963.655434360396, + 24.312333569347018 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 3482.4478814538325, + -2963.655434360396, + 24.312333569347018 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535897647 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 3479.4478814538325, + -2963.655434360396, + 24.312333569347018 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 3476.4478814538325, + -2963.655434360396, + 24.312333569347018 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 3473.4478814538325, + -2963.655434360396, + 24.312333569347018 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 3470.4478814538325, + -2963.655434360396, + 24.312333569347018 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 3467.4478814538325, + -2963.655434360396, + 24.312333569347018 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 3464.4478814538325, + -2963.655434360396, + 24.312333569347018 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 3461.4478814538325, + -2963.655434360396, + 24.312333569347018 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 3458.4478814538325, + -2963.655434360396, + 24.312333569347018 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3392.0, + -2996.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_2-40-33_343945053/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_2-40-33_343945053/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7156590a1e96ceaa3385b9ea1e50dbf97c604f9e --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_2-40-33_343945053/pose.jsonl @@ -0,0 +1,743 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 113.45503442389078, + 2158.102147207272, + 14.446386783776745 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 114.95503442389078, + 2155.504070995919, + 14.446386783776745 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 116.45503442389078, + 2152.905994784566, + 14.446386783776745 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 117.95503442389078, + 2150.3079185732126, + 14.446386783776745 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 119.45503442389078, + 2147.7098423618595, + 14.446386783776745 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 120.95503442389078, + 2145.1117661505064, + 14.446386783776745 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 122.45503442389078, + 2142.513689939153, + 14.446386783776745 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 123.95503442389078, + 2139.9156137278, + 14.446386783776745 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 125.45503442389078, + 2137.317537516447, + 14.446386783776745 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 126.95503442389078, + 2134.719461305094, + 14.446386783776745 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 128.4550344238908, + 2132.1213850937406, + 14.446386783776745 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965652 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 129.9550344238908, + 2129.5233088823875, + 14.446386783776745 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 131.4550344238908, + 2126.9252326710343, + 14.446386783776745 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 132.9550344238908, + 2124.327156459681, + 14.446386783776745 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 134.4550344238908, + 2121.729080248328, + 14.446386783776745 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 135.9550344238908, + 2119.131004036975, + 14.446386783776745 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 137.4550344238908, + 2116.5329278256218, + 14.446386783776745 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 138.9550344238908, + 2113.9348516142686, + 14.446386783776745 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 140.4550344238908, + 2111.3367754029155, + 14.446386783776745 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 141.9550344238908, + 2108.7386991915623, + 14.446386783776745 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 143.4550344238908, + 2106.140622980209, + 14.446386783776745 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 144.9550344238908, + 2103.542546768856, + 14.446386783776745 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 146.4550344238908, + 2100.944470557503, + 14.446386783776745 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 147.9550344238908, + 2098.3463943461497, + 14.446386783776745 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 149.4550344238908, + 2095.7483181347966, + 14.446386783776745 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 150.9550344238908, + 2093.1502419234434, + 14.446386783776745 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 152.4550344238908, + 2090.5521657120903, + 14.446386783776745 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 153.9550344238908, + 2087.954089500737, + 14.446386783776745 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 155.4550344238908, + 2085.356013289384, + 14.446386783776745 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 156.9550344238908, + 2082.757937078031, + 14.446386783776745 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 158.4550344238908, + 2080.1598608666777, + 14.446386783776745 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 159.9550344238908, + 2077.5617846553246, + 14.446386783776745 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 159.9550344238908, + 2077.5617846553246, + 14.446386783776745 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948681 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 159.9550344238908, + 2074.5617846553246, + 14.446386783776745 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 159.9550344238908, + 2071.5617846553246, + 14.446386783776745 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 159.9550344238908, + 2068.5617846553246, + 14.446386783776745 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 159.9550344238908, + 2065.5617846553246, + 14.446386783776745 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 159.9550344238908, + 2062.5617846553246, + 14.446386783776745 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 159.9550344238908, + 2059.5617846553246, + 14.446386783776745 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 159.9550344238908, + 2056.5617846553246, + 14.446386783776745 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 159.9550344238908, + 2053.5617846553246, + 14.446386783776745 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 159.9550344238908, + 2050.5617846553246, + 14.446386783776745 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 159.9550344238908, + 2047.5617846553246, + 14.446386783776745 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 159.9550344238908, + 2044.5617846553246, + 14.446386783776745 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 159.9550344238908, + 2041.5617846553246, + 14.446386783776745 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 159.9550344238908, + 2038.5617846553246, + 14.446386783776745 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 159.9550344238908, + 2038.5617846553246, + 14.446386783776745 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 161.4550344238908, + 2035.9637084439712, + 14.446386783776745 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 162.9550344238908, + 2033.3656322326178, + 14.446386783776745 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 164.4550344238908, + 2030.7675560212645, + 14.446386783776745 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 165.9550344238908, + 2028.169479809911, + 14.446386783776745 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 167.4550344238908, + 2025.5714035985577, + 14.446386783776745 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 168.9550344238908, + 2022.9733273872043, + 14.446386783776745 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 170.4550344238908, + 2020.375251175851, + 14.446386783776745 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 171.9550344238908, + 2017.7771749644976, + 14.446386783776745 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 173.4550344238908, + 2015.1790987531442, + 14.446386783776745 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 180.0, + 1996.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_2-44-1_180785147/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_2-44-1_180785147/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6342fd6088644289a32b1f283a9b9a97eb0d72d0 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_2-44-1_180785147/pose.jsonl @@ -0,0 +1,457 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -858.518780731857, + 1156.459203113918, + 17.363539858006643 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -861.1168569432102, + 1157.959203113918, + 17.363539858006643 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -863.7149331545636, + 1159.459203113918, + 17.363539858006643 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -866.313009365917, + 1160.959203113918, + 17.363539858006643 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -868.9110855772703, + 1162.459203113918, + 17.363539858006643 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -871.5091617886237, + 1163.959203113918, + 17.363539858006643 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -874.1072379999771, + 1165.459203113918, + 17.363539858006643 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -876.7053142113305, + 1166.959203113918, + 17.363539858006643 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -879.3033904226838, + 1168.459203113918, + 17.363539858006643 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -881.9014666340372, + 1169.959203113918, + 17.363539858006643 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -884.4995428453906, + 1171.459203113918, + 17.363539858006643 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -884.4995428453906, + 1171.459203113918, + 17.363539858006643 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -887.4995428453906, + 1171.459203113918, + 17.363539858006643 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -890.4995428453906, + 1171.459203113918, + 17.363539858006643 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -893.4995428453906, + 1171.459203113918, + 17.363539858006643 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -896.4995428453906, + 1171.459203113918, + 17.363539858006643 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -899.4995428453906, + 1171.459203113918, + 17.363539858006643 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -902.4995428453906, + 1171.459203113918, + 17.363539858006643 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -905.4995428453906, + 1171.459203113918, + 17.363539858006643 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -908.4995428453906, + 1171.459203113918, + 17.363539858006643 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -911.4995428453906, + 1171.459203113918, + 17.363539858006643 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -914.4995428453906, + 1171.459203113918, + 17.363539858006643 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -917.4995428453906, + 1171.459203113918, + 17.363539858006643 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -917.4995428453906, + 1171.459203113918, + 17.363539858006643 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -920.097619056744, + 1172.959203113918, + 17.363539858006643 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -922.6956952680973, + 1174.459203113918, + 17.363539858006643 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -925.2937714794507, + 1175.959203113918, + 17.363539858006643 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -927.8918476908041, + 1177.459203113918, + 17.363539858006643 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -930.4899239021574, + 1178.959203113918, + 17.363539858006643 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -933.0880001135108, + 1180.459203113918, + 17.363539858006643 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -935.6860763248642, + 1181.959203113918, + 17.363539858006643 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -938.2841525362176, + 1183.459203113918, + 17.363539858006643 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -940.8822287475709, + 1184.959203113918, + 17.363539858006643 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -943.4803049589243, + 1186.459203113918, + 17.363539858006643 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1000.0, + 1208.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_2-45-0_1687776787/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_2-45-0_1687776787/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2b304880ab351a9d43674f013ac1d91b8e8862fa --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_2-45-0_1687776787/pose.jsonl @@ -0,0 +1,1393 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -221.13969831485207, + 23.219535904508987, + 26.640863995867505 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -223.73777452620538, + 21.719535904508987, + 26.640863995867505 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -226.3358507375587, + 20.219535904508987, + 26.640863995867505 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -228.93392694891202, + 18.719535904508987, + 26.640863995867505 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -231.53200316026533, + 17.219535904508987, + 26.640863995867505 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -234.13007937161865, + 15.719535904508987, + 26.640863995867505 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -236.72815558297197, + 14.219535904508987, + 26.640863995867505 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -239.32623179432528, + 12.719535904508987, + 26.640863995867505 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -239.32623179432528, + 12.719535904508987, + 26.640863995867505 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -242.32623179432528, + 12.719535904508987, + 26.640863995867505 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -245.32623179432528, + 12.719535904508987, + 26.640863995867505 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -248.32623179432528, + 12.719535904508987, + 26.640863995867505 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -251.32623179432528, + 12.719535904508987, + 26.640863995867505 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -254.32623179432528, + 12.719535904508987, + 26.640863995867505 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -257.3262317943253, + 12.719535904508987, + 26.640863995867505 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -260.3262317943253, + 12.719535904508987, + 26.640863995867505 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -263.3262317943253, + 12.719535904508987, + 26.640863995867505 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -266.3262317943253, + 12.719535904508987, + 26.640863995867505 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -269.3262317943253, + 12.719535904508987, + 26.640863995867505 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -272.3262317943253, + 12.719535904508987, + 26.640863995867505 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -275.3262317943253, + 12.719535904508987, + 26.640863995867505 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -278.3262317943253, + 12.719535904508987, + 26.640863995867505 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -281.3262317943253, + 12.719535904508987, + 26.640863995867505 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -284.3262317943253, + 12.719535904508987, + 26.640863995867505 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -287.3262317943253, + 12.719535904508987, + 26.640863995867505 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -290.3262317943253, + 12.719535904508987, + 26.640863995867505 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -293.3262317943253, + 12.719535904508987, + 26.640863995867505 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -296.3262317943253, + 12.719535904508987, + 26.640863995867505 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -299.3262317943253, + 12.719535904508987, + 26.640863995867505 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -302.3262317943253, + 12.719535904508987, + 26.640863995867505 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -302.3262317943253, + 12.719535904508987, + 26.640863995867505 + ], + "type": "turn left", + "value": 30, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -302.3262317943253, + 12.719535904508987, + 26.640863995867505 + ], + "type": "turn left", + "value": 30, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -302.3262317943253, + 12.719535904508987, + 26.640863995867505 + ], + "type": "go straight", + "value": 3, + "yaw": 4.71238898038469 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -302.3262317943253, + 9.719535904508987, + 26.640863995867505 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -302.3262317943253, + 6.719535904508987, + 26.640863995867505 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -302.3262317943253, + 3.7195359045089873, + 26.640863995867505 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -302.3262317943253, + 3.7195359045089873, + 26.640863995867505 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -300.8262317943253, + 1.1214596931556713, + 26.640863995867505 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -300.8262317943253, + 1.1214596931556713, + 26.640863995867505 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -298.22815558297197, + -0.3785403068443285, + 26.640863995867505 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -295.63007937161865, + -1.8785403068443283, + 26.640863995867505 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -293.03200316026533, + -3.378540306844328, + 26.640863995867505 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982987 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -290.433926948912, + -4.878540306844328, + 26.640863995867505 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -287.8358507375587, + -6.378540306844328, + 26.640863995867505 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -285.2377745262054, + -7.878540306844328, + 26.640863995867505 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -282.63969831485207, + -9.378540306844327, + 26.640863995867505 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982986 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -280.04162210349875, + -10.878540306844327, + 26.640863995867505 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -277.44354589214544, + -12.378540306844327, + 26.640863995867505 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -274.8454696807921, + -13.878540306844327, + 26.640863995867505 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -272.2473934694388, + -15.378540306844327, + 26.640863995867505 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -269.6493172580855, + -16.878540306844325, + 26.640863995867505 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982984 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -267.0512410467322, + -18.378540306844325, + 26.640863995867505 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -264.45316483537886, + -19.878540306844325, + 26.640863995867505 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -261.85508862402554, + -21.378540306844325, + 26.640863995867505 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -259.2570124126722, + -22.878540306844325, + 26.640863995867505 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -256.6589362013189, + -24.378540306844325, + 26.640863995867505 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -254.0608599899656, + -25.878540306844325, + 26.640863995867505 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -251.46278377861228, + -27.378540306844325, + 26.640863995867505 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -248.86470756725896, + -28.878540306844325, + 26.640863995867505 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -246.26663135590564, + -30.378540306844325, + 26.640863995867505 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -243.66855514455233, + -31.878540306844325, + 26.640863995867505 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -241.070478933199, + -33.37854030684432, + 26.640863995867505 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982978 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -238.4724027218457, + -34.87854030684432, + 26.640863995867505 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -235.87432651049238, + -36.37854030684432, + 26.640863995867505 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -233.27625029913906, + -37.87854030684432, + 26.640863995867505 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -230.67817408778575, + -39.37854030684432, + 26.640863995867505 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -228.08009787643243, + -40.87854030684432, + 26.640863995867505 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -225.48202166507912, + -42.37854030684432, + 26.640863995867505 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -222.8839454537258, + -43.87854030684432, + 26.640863995867505 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -220.28586924237248, + -45.37854030684432, + 26.640863995867505 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -217.68779303101917, + -46.87854030684432, + 26.640863995867505 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -215.08971681966585, + -48.37854030684432, + 26.640863995867505 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + -212.49164060831254, + -49.87854030684432, + 26.640863995867505 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + -209.89356439695922, + -51.37854030684432, + 26.640863995867505 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + -207.2954881856059, + -52.87854030684432, + 26.640863995867505 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + -204.6974119742526, + -54.37854030684432, + 26.640863995867505 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + -202.09933576289927, + -55.87854030684432, + 26.640863995867505 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + -199.50125955154596, + -57.37854030684432, + 26.640863995867505 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + -196.90318334019264, + -58.87854030684432, + 26.640863995867505 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + -194.30510712883932, + -60.37854030684432, + 26.640863995867505 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + -191.707030917486, + -61.87854030684432, + 26.640863995867505 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + -189.1089547061327, + -63.37854030684432, + 26.640863995867505 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 82, + "pos": [ + -186.51087849477938, + -64.87854030684431, + 26.640863995867505 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982968 + } +} +{ + "action": { + "imageid": 83, + "pos": [ + -183.91280228342606, + -66.37854030684431, + 26.640863995867505 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 84, + "pos": [ + -181.31472607207274, + -67.87854030684431, + 26.640863995867505 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 85, + "pos": [ + -181.31472607207274, + -67.87854030684431, + 26.640863995867505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 86, + "pos": [ + -178.31472607207274, + -67.87854030684431, + 26.640863995867505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 87, + "pos": [ + -175.31472607207274, + -67.87854030684431, + 26.640863995867505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 88, + "pos": [ + -172.31472607207274, + -67.87854030684431, + 26.640863995867505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 89, + "pos": [ + -169.31472607207274, + -67.87854030684431, + 26.640863995867505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 90, + "pos": [ + -166.31472607207274, + -67.87854030684431, + 26.640863995867505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 91, + "pos": [ + -163.31472607207274, + -67.87854030684431, + 26.640863995867505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 92, + "pos": [ + -160.31472607207274, + -67.87854030684431, + 26.640863995867505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 93, + "pos": [ + -157.31472607207274, + -67.87854030684431, + 26.640863995867505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 94, + "pos": [ + -154.31472607207274, + -67.87854030684431, + 26.640863995867505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 95, + "pos": [ + -151.31472607207274, + -67.87854030684431, + 26.640863995867505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 96, + "pos": [ + -148.31472607207274, + -67.87854030684431, + 26.640863995867505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 97, + "pos": [ + -145.31472607207274, + -67.87854030684431, + 26.640863995867505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 98, + "pos": [ + -142.31472607207274, + -67.87854030684431, + 26.640863995867505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 99, + "pos": [ + -139.31472607207274, + -67.87854030684431, + 26.640863995867505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 100, + "pos": [ + -136.31472607207274, + -67.87854030684431, + 26.640863995867505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 101, + "pos": [ + -133.31472607207274, + -67.87854030684431, + 26.640863995867505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 102, + "pos": [ + -130.31472607207274, + -67.87854030684431, + 26.640863995867505 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 103, + "pos": [ + -130.31472607207274, + -67.87854030684431, + 26.640863995867505 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 104, + "pos": [ + -130.31472607207274, + -67.87854030684431, + 26.640863995867505 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 105, + "pos": [ + -128.81472607207274, + -70.47661651819763, + 26.640863995867505 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965976 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -104.0, + -96.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_2-46-8_1470332231/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_2-46-8_1470332231/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6301763cc18db056d48d7c74c8728f83039429ae --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_2-46-8_1470332231/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3468.5140655103082, + 1809.7975086704853, + 39.757243368388345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3471.5140655103082, + 1809.7975086704853, + 39.757243368388345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3474.5140655103082, + 1809.7975086704853, + 39.757243368388345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3477.5140655103082, + 1809.7975086704853, + 39.757243368388345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3480.5140655103082, + 1809.7975086704853, + 39.757243368388345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3483.5140655103082, + 1809.7975086704853, + 39.757243368388345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3486.5140655103082, + 1809.7975086704853, + 39.757243368388345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3489.5140655103082, + 1809.7975086704853, + 39.757243368388345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 3492.5140655103082, + 1809.7975086704853, + 39.757243368388345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 3495.5140655103082, + 1809.7975086704853, + 39.757243368388345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 3498.5140655103082, + 1809.7975086704853, + 39.757243368388345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 3501.5140655103082, + 1809.7975086704853, + 39.757243368388345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 3504.5140655103082, + 1809.7975086704853, + 39.757243368388345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 3507.5140655103082, + 1809.7975086704853, + 39.757243368388345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 3510.5140655103082, + 1809.7975086704853, + 39.757243368388345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 3513.5140655103082, + 1809.7975086704853, + 39.757243368388345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 3516.5140655103082, + 1809.7975086704853, + 39.757243368388345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 3519.5140655103082, + 1809.7975086704853, + 39.757243368388345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 3522.5140655103082, + 1809.7975086704853, + 39.757243368388345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 3525.5140655103082, + 1809.7975086704853, + 39.757243368388345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 3528.5140655103082, + 1809.7975086704853, + 39.757243368388345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 3531.5140655103082, + 1809.7975086704853, + 39.757243368388345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 3534.5140655103082, + 1809.7975086704853, + 39.757243368388345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 3537.5140655103082, + 1809.7975086704853, + 39.757243368388345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 3540.5140655103082, + 1809.7975086704853, + 39.757243368388345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 3543.5140655103082, + 1809.7975086704853, + 39.757243368388345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 3546.5140655103082, + 1809.7975086704853, + 39.757243368388345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 3549.5140655103082, + 1809.7975086704853, + 39.757243368388345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 3552.5140655103082, + 1809.7975086704853, + 39.757243368388345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 3555.5140655103082, + 1809.7975086704853, + 39.757243368388345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 3558.5140655103082, + 1809.7975086704853, + 39.757243368388345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 3561.5140655103082, + 1809.7975086704853, + 39.757243368388345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 3564.5140655103082, + 1809.7975086704853, + 39.757243368388345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 3567.5140655103082, + 1809.7975086704853, + 39.757243368388345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 3570.5140655103082, + 1809.7975086704853, + 39.757243368388345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 3573.5140655103082, + 1809.7975086704853, + 39.757243368388345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 3576.5140655103082, + 1809.7975086704853, + 39.757243368388345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 3579.5140655103082, + 1809.7975086704853, + 39.757243368388345 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 3579.5140655103082, + 1809.7975086704853, + 39.757243368388345 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 3582.1121417216614, + 1808.2975086704853, + 39.757243368388345 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 3584.7102179330145, + 1806.7975086704853, + 39.757243368388345 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 3587.3082941443677, + 1805.2975086704853, + 39.757243368388345 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 3589.906370355721, + 1803.7975086704853, + 39.757243368388345 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 3592.504446567074, + 1802.2975086704853, + 39.757243368388345 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 3595.102522778427, + 1800.7975086704853, + 39.757243368388345 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 3597.7005989897802, + 1799.2975086704853, + 39.757243368388345 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 3600.2986752011334, + 1797.7975086704853, + 39.757243368388345 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 3602.8967514124865, + 1796.2975086704853, + 39.757243368388345 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 3605.4948276238397, + 1794.7975086704853, + 39.757243368388345 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 3608.092903835193, + 1793.2975086704853, + 39.757243368388345 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 3610.690980046546, + 1791.7975086704853, + 39.757243368388345 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 3613.289056257899, + 1790.2975086704853, + 39.757243368388345 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 3613.289056257899, + 1790.2975086704853, + 39.757243368388345 + ], + "type": "go straight", + "value": 3, + "yaw": -2.842170943040401e-14 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 3616.289056257899, + 1790.2975086704853, + 39.757243368388345 + ], + "type": "stop", + "value": 0, + "yaw": -2.842170943040401e-14 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3632.0, + 1788.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_2-47-0_1862292122/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_2-47-0_1862292122/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bbf834b10e822ba7979b4da5a5ec4b568e4cd24d --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_2-47-0_1862292122/pose.jsonl @@ -0,0 +1,548 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2266.7178438911396, + -1783.40736682285, + 36.73739996737994 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2269.315920102493, + -1784.90736682285, + 36.73739996737994 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2271.913996313846, + -1786.40736682285, + 36.73739996737994 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2274.512072525199, + -1787.90736682285, + 36.73739996737994 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2277.110148736552, + -1789.40736682285, + 36.73739996737994 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2279.7082249479054, + -1790.90736682285, + 36.73739996737994 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2282.3063011592585, + -1792.40736682285, + 36.73739996737994 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2284.9043773706117, + -1793.90736682285, + 36.73739996737994 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2287.502453581965, + -1795.40736682285, + 36.73739996737994 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2290.100529793318, + -1796.90736682285, + 36.73739996737994 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2292.698606004671, + -1798.40736682285, + 36.73739996737994 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2295.2966822160242, + -1799.90736682285, + 36.73739996737994 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2297.8947584273774, + -1801.40736682285, + 36.73739996737994 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2300.4928346387305, + -1802.90736682285, + 36.73739996737994 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2303.0909108500837, + -1804.40736682285, + 36.73739996737994 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2305.688987061437, + -1805.90736682285, + 36.73739996737994 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2308.28706327279, + -1807.40736682285, + 36.73739996737994 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2310.885139484143, + -1808.90736682285, + 36.73739996737994 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2313.4832156954963, + -1810.40736682285, + 36.73739996737994 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2316.0812919068494, + -1811.90736682285, + 36.73739996737994 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2318.6793681182025, + -1813.40736682285, + 36.73739996737994 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2321.2774443295557, + -1814.90736682285, + 36.73739996737994 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2323.875520540909, + -1816.40736682285, + 36.73739996737994 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2326.473596752262, + -1817.90736682285, + 36.73739996737994 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2329.071672963615, + -1819.40736682285, + 36.73739996737994 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2331.6697491749683, + -1820.90736682285, + 36.73739996737994 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2334.2678253863214, + -1822.40736682285, + 36.73739996737994 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2336.8659015976746, + -1823.90736682285, + 36.73739996737994 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2339.4639778090277, + -1825.40736682285, + 36.73739996737994 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2339.4639778090277, + -1825.40736682285, + 36.73739996737994 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535897647 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2342.4639778090277, + -1825.40736682285, + 36.73739996737994 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2345.4639778090277, + -1825.40736682285, + 36.73739996737994 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2348.4639778090277, + -1825.40736682285, + 36.73739996737994 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2351.4639778090277, + -1825.40736682285, + 36.73739996737994 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2354.4639778090277, + -1825.40736682285, + 36.73739996737994 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -2357.4639778090277, + -1825.40736682285, + 36.73739996737994 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -2360.4639778090277, + -1825.40736682285, + 36.73739996737994 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -2363.4639778090277, + -1825.40736682285, + 36.73739996737994 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -2366.4639778090277, + -1825.40736682285, + 36.73739996737994 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -2369.4639778090277, + -1825.40736682285, + 36.73739996737994 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -2372.4639778090277, + -1825.40736682285, + 36.73739996737994 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2412.0, + -1844.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_2-50-57_1280311131/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_2-50-57_1280311131/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..71ffdd4f08ec0dfec4c0d13d64dfcd08b5b4f255 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_2-50-57_1280311131/pose.jsonl @@ -0,0 +1,275 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2373.509669037579, + 2207.5920690911225, + 22.818907537497374 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2372.009669037579, + 2210.1901453024757, + 22.818907537497374 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2370.509669037579, + 2212.788221513829, + 22.818907537497374 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2369.009669037579, + 2215.386297725182, + 22.818907537497374 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2367.509669037579, + 2217.984373936535, + 22.818907537497374 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2366.009669037579, + 2220.5824501478883, + 22.818907537497374 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2366.009669037579, + 2220.5824501478883, + 22.818907537497374 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915224 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2363.411592826226, + 2222.0824501478883, + 22.818907537497374 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2360.8135166148727, + 2223.5824501478883, + 22.818907537497374 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 2358.2154404035196, + 2225.0824501478883, + 22.818907537497374 + ], + "type": "turn right", + "value": 30, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2358.2154404035196, + 2225.0824501478883, + 22.818907537497374 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931673 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2356.7154404035196, + 2227.6805263592414, + 22.818907537497374 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 2355.2154404035196, + 2230.2786025705946, + 22.818907537497374 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 2353.7154404035196, + 2232.8766787819477, + 22.818907537497374 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 2352.2154404035196, + 2235.474754993301, + 22.818907537497374 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 2350.7154404035196, + 2238.072831204654, + 22.818907537497374 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 2349.2154404035196, + 2240.670907416007, + 22.818907537497374 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 2347.7154404035196, + 2243.2689836273603, + 22.818907537497374 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 2347.7154404035196, + 2243.2689836273603, + 22.818907537497374 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915224 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 2345.1173641921664, + 2244.7689836273603, + 22.818907537497374 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915224 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2264.0, + 2340.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_2-51-10_1370973813/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_2-51-10_1370973813/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9e5e2c688aabaa84253f9445df083d5a61cf9e05 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_2-51-10_1370973813/pose.jsonl @@ -0,0 +1,67 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3050.1214533595326, + -3000.3944567128287, + 27.56041197775269 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3053.1214533595326, + -3000.3944567128287, + 27.56041197775269 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3056.1214533595326, + -3000.3944567128287, + 27.56041197775269 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3059.1214533595326, + -3000.3944567128287, + 27.56041197775269 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3228.0, + -3024.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_2-56-28_831768825/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_2-56-28_831768825/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5bce294560f2940a06c99f3fab9f2354c6cab2ba --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_2-56-28_831768825/pose.jsonl @@ -0,0 +1,67 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2991.3722682010507, + 1067.7461268189388, + 23.342666312634833 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2993.970344412404, + 1066.2461268189388, + 23.342666312634833 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2996.568420623757, + 1064.7461268189388, + 23.342666312634833 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2999.16649683511, + 1063.2461268189388, + 23.342666312634833 + ], + "type": "stop", + "value": 0, + "yaw": -2.617993877991466 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -3156.0, + 1016.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_2-57-23_1823796892/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_2-57-23_1823796892/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..99f1888385069ceb4f925af066ed77b371298ee5 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_2-57-23_1823796892/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3568.176918700235, + 1004.3015123708527, + 37.08785558891758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3565.578842488882, + 1002.8015123708527, + 37.08785558891758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3562.980766277529, + 1001.3015123708527, + 37.08785558891758 + ], + "type": "turn left", + "value": 30, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3562.980766277529, + 1001.3015123708527, + 37.08785558891758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931673 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3561.480766277529, + 998.7034361594995, + 37.08785558891758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3559.980766277529, + 996.1053599481461, + 37.08785558891758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3558.480766277529, + 993.5072837367927, + 37.08785558891758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3556.980766277529, + 990.9092075254393, + 37.08785558891758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 3555.480766277529, + 988.311131314086, + 37.08785558891758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 3553.980766277529, + 985.7130551027326, + 37.08785558891758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 3552.480766277529, + 983.1149788913792, + 37.08785558891758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 3550.980766277529, + 980.5169026800259, + 37.08785558891758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 3549.480766277529, + 977.9188264686725, + 37.08785558891758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 3547.980766277529, + 975.3207502573191, + 37.08785558891758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 3546.480766277529, + 972.7226740459657, + 37.08785558891758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 3544.980766277529, + 970.1245978346124, + 37.08785558891758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 3543.480766277529, + 967.526521623259, + 37.08785558891758 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 3543.480766277529, + 967.526521623259, + 37.08785558891758 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 3543.480766277529, + 964.526521623259, + 37.08785558891758 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 3543.480766277529, + 961.526521623259, + 37.08785558891758 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 3543.480766277529, + 958.526521623259, + 37.08785558891758 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 3543.480766277529, + 955.526521623259, + 37.08785558891758 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 3543.480766277529, + 952.526521623259, + 37.08785558891758 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 3543.480766277529, + 949.526521623259, + 37.08785558891758 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 3543.480766277529, + 946.526521623259, + 37.08785558891758 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 3543.480766277529, + 943.526521623259, + 37.08785558891758 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 3543.480766277529, + 940.526521623259, + 37.08785558891758 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 3543.480766277529, + 937.526521623259, + 37.08785558891758 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 3543.480766277529, + 934.526521623259, + 37.08785558891758 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 3543.480766277529, + 931.526521623259, + 37.08785558891758 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 3543.480766277529, + 928.526521623259, + 37.08785558891758 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 3543.480766277529, + 925.526521623259, + 37.08785558891758 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 3543.480766277529, + 922.526521623259, + 37.08785558891758 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 3543.480766277529, + 919.526521623259, + 37.08785558891758 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 3543.480766277529, + 916.526521623259, + 37.08785558891758 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 3543.480766277529, + 913.526521623259, + 37.08785558891758 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 3543.480766277529, + 910.526521623259, + 37.08785558891758 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 3543.480766277529, + 907.526521623259, + 37.08785558891758 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 3543.480766277529, + 904.526521623259, + 37.08785558891758 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 3543.480766277529, + 901.526521623259, + 37.08785558891758 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 3543.480766277529, + 898.526521623259, + 37.08785558891758 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 3543.480766277529, + 895.526521623259, + 37.08785558891758 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 3543.480766277529, + 892.526521623259, + 37.08785558891758 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 3543.480766277529, + 889.526521623259, + 37.08785558891758 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 3543.480766277529, + 886.526521623259, + 37.08785558891758 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 3543.480766277529, + 883.526521623259, + 37.08785558891758 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 3543.480766277529, + 880.526521623259, + 37.08785558891758 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 3543.480766277529, + 877.526521623259, + 37.08785558891758 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 3543.480766277529, + 874.526521623259, + 37.08785558891758 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 3543.480766277529, + 871.526521623259, + 37.08785558891758 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3540.0, + 852.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_2-59-0_1364090032/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_2-59-0_1364090032/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..93c4c2c96c66ccb64130ac320adf6f27604f9511 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_2-59-0_1364090032/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4912.130932167096, + 1644.1396601751746, + 22.360766349478496 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4910.630932167096, + 1646.737736386528, + 22.360766349478496 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4909.130932167096, + 1649.3358125978814, + 22.360766349478496 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4907.630932167096, + 1651.9338888092348, + 22.360766349478496 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4906.130932167096, + 1654.5319650205881, + 22.360766349478496 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4904.630932167096, + 1657.1300412319415, + 22.360766349478496 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4903.130932167096, + 1659.7281174432949, + 22.360766349478496 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4901.630932167096, + 1662.3261936546483, + 22.360766349478496 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4900.130932167096, + 1664.9242698660016, + 22.360766349478496 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4898.630932167096, + 1667.522346077355, + 22.360766349478496 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4897.130932167096, + 1670.1204222887084, + 22.360766349478496 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4895.630932167096, + 1672.7184985000617, + 22.360766349478496 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4894.130932167096, + 1675.3165747114151, + 22.360766349478496 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4892.630932167096, + 1677.9146509227685, + 22.360766349478496 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4891.130932167096, + 1680.5127271341219, + 22.360766349478496 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4889.630932167096, + 1683.1108033454752, + 22.360766349478496 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 4888.130932167096, + 1685.7088795568286, + 22.360766349478496 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 4886.630932167096, + 1688.306955768182, + 22.360766349478496 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 4885.130932167096, + 1690.9050319795354, + 22.360766349478496 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 4883.630932167096, + 1693.5031081908887, + 22.360766349478496 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 4882.130932167096, + 1696.101184402242, + 22.360766349478496 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 4880.630932167096, + 1698.6992606135955, + 22.360766349478496 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 4879.130932167096, + 1701.2973368249488, + 22.360766349478496 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 4877.630932167096, + 1703.8954130363022, + 22.360766349478496 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 4876.130932167096, + 1706.4934892476556, + 22.360766349478496 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 4874.630932167096, + 1709.091565459009, + 22.360766349478496 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 4873.130932167096, + 1711.6896416703623, + 22.360766349478496 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 4871.630932167096, + 1714.2877178817157, + 22.360766349478496 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 4870.130932167096, + 1716.885794093069, + 22.360766349478496 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 4868.630932167096, + 1719.4838703044225, + 22.360766349478496 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 4867.130932167096, + 1722.0819465157758, + 22.360766349478496 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 4865.630932167096, + 1724.6800227271292, + 22.360766349478496 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 4865.630932167096, + 1724.6800227271292, + 22.360766349478496 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 4865.630932167096, + 1727.6800227271292, + 22.360766349478496 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 4865.630932167096, + 1730.6800227271292, + 22.360766349478496 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 4865.630932167096, + 1733.6800227271292, + 22.360766349478496 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 4865.630932167096, + 1736.6800227271292, + 22.360766349478496 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 4865.630932167096, + 1739.6800227271292, + 22.360766349478496 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 4865.630932167096, + 1742.6800227271292, + 22.360766349478496 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 4865.630932167096, + 1745.6800227271292, + 22.360766349478496 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 4865.630932167096, + 1748.6800227271292, + 22.360766349478496 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 4865.630932167096, + 1751.6800227271292, + 22.360766349478496 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 4865.630932167096, + 1754.6800227271292, + 22.360766349478496 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 4865.630932167096, + 1757.6800227271292, + 22.360766349478496 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 4865.630932167096, + 1760.6800227271292, + 22.360766349478496 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 4865.630932167096, + 1763.6800227271292, + 22.360766349478496 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 4865.630932167096, + 1766.6800227271292, + 22.360766349478496 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 4865.630932167096, + 1769.6800227271292, + 22.360766349478496 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 4865.630932167096, + 1772.6800227271292, + 22.360766349478496 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 4865.630932167096, + 1775.6800227271292, + 22.360766349478496 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 4865.630932167096, + 1778.6800227271292, + 22.360766349478496 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 4865.630932167096, + 1781.6800227271292, + 22.360766349478496 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4856.0, + 1804.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_2-7-53_181271232/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_2-7-53_181271232/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d6c1f49992a0940537855954d564fe27867261ca --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_2-7-53_181271232/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2678.09690363765, + -2207.2734926857156, + 17.928805175457523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2675.498827426297, + -2205.7734926857156, + 17.928805175457523 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2675.498827426297, + -2205.7734926857156, + 17.928805175457523 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196626 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2673.998827426297, + -2203.1754164743625, + 17.928805175457523 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2672.498827426297, + -2200.5773402630093, + 17.928805175457523 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2670.998827426297, + -2197.979264051656, + 17.928805175457523 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2669.498827426297, + -2195.381187840303, + 17.928805175457523 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2667.998827426297, + -2192.78311162895, + 17.928805175457523 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2666.498827426297, + -2190.1850354175967, + 17.928805175457523 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2664.998827426297, + -2187.5869592062436, + 17.928805175457523 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2663.498827426297, + -2184.9888829948904, + 17.928805175457523 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2661.998827426297, + -2182.3908067835373, + 17.928805175457523 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2660.498827426297, + -2179.792730572184, + 17.928805175457523 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2658.998827426297, + -2177.194654360831, + 17.928805175457523 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2658.998827426297, + -2177.194654360831, + 17.928805175457523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982706 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2656.4007512149437, + -2175.694654360831, + 17.928805175457523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2653.8026750035906, + -2174.194654360831, + 17.928805175457523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2651.2045987922374, + -2172.694654360831, + 17.928805175457523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2648.6065225808843, + -2171.194654360831, + 17.928805175457523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2646.008446369531, + -2169.694654360831, + 17.928805175457523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2643.410370158178, + -2168.194654360831, + 17.928805175457523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2640.812293946825, + -2166.694654360831, + 17.928805175457523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2638.2142177354717, + -2165.194654360831, + 17.928805175457523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2635.6161415241186, + -2163.694654360831, + 17.928805175457523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2633.0180653127654, + -2162.194654360831, + 17.928805175457523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2630.4199891014123, + -2160.694654360831, + 17.928805175457523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2627.821912890059, + -2159.194654360831, + 17.928805175457523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2625.223836678706, + -2157.694654360831, + 17.928805175457523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2622.625760467353, + -2156.194654360831, + 17.928805175457523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2620.0276842559997, + -2154.694654360831, + 17.928805175457523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2617.4296080446466, + -2153.194654360831, + 17.928805175457523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2614.8315318332934, + -2151.694654360831, + 17.928805175457523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2612.2334556219403, + -2150.194654360831, + 17.928805175457523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2609.635379410587, + -2148.694654360831, + 17.928805175457523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2607.037303199234, + -2147.194654360831, + 17.928805175457523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -2604.439226987881, + -2145.694654360831, + 17.928805175457523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -2601.8411507765277, + -2144.194654360831, + 17.928805175457523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -2599.2430745651745, + -2142.694654360831, + 17.928805175457523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -2596.6449983538214, + -2141.194654360831, + 17.928805175457523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -2594.0469221424682, + -2139.694654360831, + 17.928805175457523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -2591.448845931115, + -2138.194654360831, + 17.928805175457523 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -2591.448845931115, + -2138.194654360831, + 17.928805175457523 + ], + "type": "go straight", + "value": 3, + "yaw": 2.842170943040401e-14 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -2588.448845931115, + -2138.194654360831, + 17.928805175457523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -2585.448845931115, + -2138.194654360831, + 17.928805175457523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -2582.448845931115, + -2138.194654360831, + 17.928805175457523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -2579.448845931115, + -2138.194654360831, + 17.928805175457523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -2576.448845931115, + -2138.194654360831, + 17.928805175457523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -2573.448845931115, + -2138.194654360831, + 17.928805175457523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -2570.448845931115, + -2138.194654360831, + 17.928805175457523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -2567.448845931115, + -2138.194654360831, + 17.928805175457523 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2528.0, + -2116.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_2-8-23_525829204/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_2-8-23_525829204/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..05c8b2cb556f4324e3efdc824abd16f8c4dca64d --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_2-8-23_525829204/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2234.9748379845287, + 2210.033474689607, + 15.498943304713222 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2234.9748379845287, + 2213.033474689607, + 15.498943304713222 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2234.9748379845287, + 2216.033474689607, + 15.498943304713222 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2234.9748379845287, + 2219.033474689607, + 15.498943304713222 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2234.9748379845287, + 2222.033474689607, + 15.498943304713222 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2234.9748379845287, + 2225.033474689607, + 15.498943304713222 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2234.9748379845287, + 2228.033474689607, + 15.498943304713222 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2234.9748379845287, + 2231.033474689607, + 15.498943304713222 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2234.9748379845287, + 2234.033474689607, + 15.498943304713222 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 2234.9748379845287, + 2237.033474689607, + 15.498943304713222 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2234.9748379845287, + 2240.033474689607, + 15.498943304713222 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2234.9748379845287, + 2243.033474689607, + 15.498943304713222 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 2234.9748379845287, + 2246.033474689607, + 15.498943304713222 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 2234.9748379845287, + 2249.033474689607, + 15.498943304713222 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 2234.9748379845287, + 2252.033474689607, + 15.498943304713222 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 2234.9748379845287, + 2255.033474689607, + 15.498943304713222 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 2234.9748379845287, + 2258.033474689607, + 15.498943304713222 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 2234.9748379845287, + 2261.033474689607, + 15.498943304713222 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 2234.9748379845287, + 2261.033474689607, + 15.498943304713222 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 2236.4748379845287, + 2263.63155090096, + 15.498943304713222 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 2236.4748379845287, + 2263.63155090096, + 15.498943304713222 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948681 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 2236.4748379845287, + 2266.63155090096, + 15.498943304713222 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 2236.4748379845287, + 2269.63155090096, + 15.498943304713222 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 2236.4748379845287, + 2272.63155090096, + 15.498943304713222 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 2236.4748379845287, + 2275.63155090096, + 15.498943304713222 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 2236.4748379845287, + 2278.63155090096, + 15.498943304713222 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 2236.4748379845287, + 2281.63155090096, + 15.498943304713222 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 2236.4748379845287, + 2284.63155090096, + 15.498943304713222 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 2236.4748379845287, + 2287.63155090096, + 15.498943304713222 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 2236.4748379845287, + 2290.63155090096, + 15.498943304713222 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 2236.4748379845287, + 2293.63155090096, + 15.498943304713222 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 2236.4748379845287, + 2296.63155090096, + 15.498943304713222 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 2236.4748379845287, + 2299.63155090096, + 15.498943304713222 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 2236.4748379845287, + 2302.63155090096, + 15.498943304713222 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 2236.4748379845287, + 2305.63155090096, + 15.498943304713222 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 2236.4748379845287, + 2308.63155090096, + 15.498943304713222 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 2236.4748379845287, + 2311.63155090096, + 15.498943304713222 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 2236.4748379845287, + 2314.63155090096, + 15.498943304713222 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 2236.4748379845287, + 2314.63155090096, + 15.498943304713222 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 2236.4748379845287, + 2314.63155090096, + 15.498943304713222 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 2233.8767617731755, + 2316.13155090096, + 15.498943304713222 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 2231.2786855618224, + 2317.63155090096, + 15.498943304713222 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 2228.6806093504692, + 2319.13155090096, + 15.498943304713222 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 2226.082533139116, + 2320.63155090096, + 15.498943304713222 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 2223.484456927763, + 2322.13155090096, + 15.498943304713222 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 2220.88638071641, + 2323.63155090096, + 15.498943304713222 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 2218.2883045050567, + 2325.13155090096, + 15.498943304713222 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 2215.6902282937035, + 2326.63155090096, + 15.498943304713222 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 2213.0921520823504, + 2328.13155090096, + 15.498943304713222 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 2210.494075870997, + 2329.63155090096, + 15.498943304713222 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 2207.895999659644, + 2331.13155090096, + 15.498943304713222 + ], + "type": "turn right", + "value": 30, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 2207.895999659644, + 2331.13155090096, + 15.498943304713222 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931673 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 2206.395999659644, + 2333.729627112313, + 15.498943304713222 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 2204.895999659644, + 2336.3277033236664, + 15.498943304713222 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023932237 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2200.0, + 2360.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_20-13-6_1988308582/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_20-13-6_1988308582/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fa493369a8eaf879e93e6fe7fbca08fef4957e06 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_20-13-6_1988308582/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2726.1977341645133, + -508.5817542973378, + 38.92551321361397 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2723.59965795316, + -510.0817542973378, + 38.92551321361397 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2721.001581741807, + -511.5817542973378, + 38.92551321361397 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2718.403505530454, + -513.0817542973377, + 38.92551321361397 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914824 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2715.8054293191008, + -514.5817542973377, + 38.92551321361397 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2713.2073531077476, + -516.0817542973377, + 38.92551321361397 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2710.6092768963945, + -517.5817542973377, + 38.92551321361397 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2708.0112006850413, + -519.0817542973377, + 38.92551321361397 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2705.413124473688, + -520.5817542973377, + 38.92551321361397 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 2702.815048262335, + -522.0817542973377, + 38.92551321361397 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2700.216972050982, + -523.5817542973377, + 38.92551321361397 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2697.6188958396287, + -525.0817542973377, + 38.92551321361397 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 2695.0208196282756, + -526.5817542973377, + 38.92551321361397 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 2692.4227434169225, + -528.0817542973377, + 38.92551321361397 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 2689.8246672055693, + -529.5817542973377, + 38.92551321361397 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 2687.226590994216, + -531.0817542973377, + 38.92551321361397 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 2684.628514782863, + -532.5817542973377, + 38.92551321361397 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 2682.03043857151, + -534.0817542973377, + 38.92551321361397 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 2679.4323623601567, + -535.5817542973377, + 38.92551321361397 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 2676.8342861488036, + -537.0817542973377, + 38.92551321361397 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 2674.2362099374504, + -538.5817542973377, + 38.92551321361397 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 2671.6381337260973, + -540.0817542973377, + 38.92551321361397 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 2669.040057514744, + -541.5817542973377, + 38.92551321361397 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 2666.441981303391, + -543.0817542973377, + 38.92551321361397 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 2663.843905092038, + -544.5817542973377, + 38.92551321361397 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 2661.2458288806847, + -546.0817542973377, + 38.92551321361397 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 2658.6477526693316, + -547.5817542973377, + 38.92551321361397 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 2656.0496764579784, + -549.0817542973377, + 38.92551321361397 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 2653.4516002466253, + -550.5817542973377, + 38.92551321361397 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 2650.853524035272, + -552.0817542973377, + 38.92551321361397 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 2648.255447823919, + -553.5817542973377, + 38.92551321361397 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 2645.657371612566, + -555.0817542973377, + 38.92551321361397 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 2643.0592954012127, + -556.5817542973377, + 38.92551321361397 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 2640.4612191898595, + -558.0817542973377, + 38.92551321361397 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 2637.8631429785064, + -559.5817542973377, + 38.92551321361397 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 2635.2650667671533, + -561.0817542973377, + 38.92551321361397 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 2632.6669905558, + -562.5817542973377, + 38.92551321361397 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 2630.068914344447, + -564.0817542973377, + 38.92551321361397 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 2627.470838133094, + -565.5817542973377, + 38.92551321361397 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 2627.470838133094, + -565.5817542973377, + 38.92551321361397 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535897647 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 2624.470838133094, + -565.5817542973377, + 38.92551321361397 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 2621.470838133094, + -565.5817542973377, + 38.92551321361397 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 2618.470838133094, + -565.5817542973377, + 38.92551321361397 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 2615.470838133094, + -565.5817542973377, + 38.92551321361397 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 2612.470838133094, + -565.5817542973377, + 38.92551321361397 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 2609.470838133094, + -565.5817542973377, + 38.92551321361397 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 2606.470838133094, + -565.5817542973377, + 38.92551321361397 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 2603.470838133094, + -565.5817542973377, + 38.92551321361397 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 2600.470838133094, + -565.5817542973377, + 38.92551321361397 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 2597.470838133094, + -565.5817542973377, + 38.92551321361397 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2568.0, + -580.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_20-19-40_735194528/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_20-19-40_735194528/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b7354313df205296f13d15a82e3c71afb586f77b --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_20-19-40_735194528/pose.jsonl @@ -0,0 +1,795 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1218.4578654772336, + 864.1641231802399, + 16.810165277790183 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1215.4578654772336, + 864.1641231802399, + 16.810165277790183 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1212.4578654772336, + 864.1641231802399, + 16.810165277790183 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1209.4578654772336, + 864.1641231802399, + 16.810165277790183 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1206.4578654772336, + 864.1641231802399, + 16.810165277790183 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1203.4578654772336, + 864.1641231802399, + 16.810165277790183 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1200.4578654772336, + 864.1641231802399, + 16.810165277790183 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1197.4578654772336, + 864.1641231802399, + 16.810165277790183 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1194.4578654772336, + 864.1641231802399, + 16.810165277790183 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1191.4578654772336, + 864.1641231802399, + 16.810165277790183 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1188.4578654772336, + 864.1641231802399, + 16.810165277790183 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1185.4578654772336, + 864.1641231802399, + 16.810165277790183 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1182.4578654772336, + 864.1641231802399, + 16.810165277790183 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1179.4578654772336, + 864.1641231802399, + 16.810165277790183 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1176.4578654772336, + 864.1641231802399, + 16.810165277790183 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1173.4578654772336, + 864.1641231802399, + 16.810165277790183 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1170.4578654772336, + 864.1641231802399, + 16.810165277790183 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1170.4578654772336, + 864.1641231802399, + 16.810165277790183 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1170.4578654772336, + 864.1641231802399, + 16.810165277790183 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1168.9578654772336, + 861.5660469688867, + 16.810165277790183 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1167.4578654772336, + 858.9679707575333, + 16.810165277790183 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1165.9578654772336, + 856.3698945461799, + 16.810165277790183 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1164.4578654772336, + 853.7718183348265, + 16.810165277790183 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1162.9578654772336, + 851.1737421234732, + 16.810165277790183 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1161.4578654772336, + 848.5756659121198, + 16.810165277790183 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1159.9578654772336, + 845.9775897007664, + 16.810165277790183 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1158.4578654772336, + 843.3795134894131, + 16.810165277790183 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1156.9578654772336, + 840.7814372780597, + 16.810165277790183 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1155.4578654772336, + 838.1833610667063, + 16.810165277790183 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1153.9578654772336, + 835.5852848553529, + 16.810165277790183 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1152.4578654772336, + 832.9872086439996, + 16.810165277790183 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1152.4578654772336, + 832.9872086439996, + 16.810165277790183 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1149.8597892658802, + 831.4872086439996, + 16.810165277790183 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1147.2617130545268, + 829.9872086439996, + 16.810165277790183 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1144.6636368431734, + 828.4872086439996, + 16.810165277790183 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1142.06556063182, + 826.9872086439996, + 16.810165277790183 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1139.4674844204667, + 825.4872086439996, + 16.810165277790183 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1136.8694082091133, + 823.9872086439996, + 16.810165277790183 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1134.27133199776, + 822.4872086439996, + 16.810165277790183 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1131.6732557864066, + 820.9872086439996, + 16.810165277790183 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1129.0751795750532, + 819.4872086439996, + 16.810165277790183 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1126.4771033636998, + 817.9872086439996, + 16.810165277790183 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1123.8790271523465, + 816.4872086439996, + 16.810165277790183 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1121.280950940993, + 814.9872086439996, + 16.810165277790183 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1118.6828747296397, + 813.4872086439996, + 16.810165277790183 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1116.0847985182863, + 811.9872086439996, + 16.810165277790183 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1113.486722306933, + 810.4872086439996, + 16.810165277790183 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1113.486722306933, + 810.4872086439996, + 16.810165277790183 + ], + "type": "go straight", + "value": 3, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1110.486722306933, + 810.4872086439996, + 16.810165277790183 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1107.486722306933, + 810.4872086439996, + 16.810165277790183 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -1104.486722306933, + 810.4872086439996, + 16.810165277790183 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -1101.486722306933, + 810.4872086439996, + 16.810165277790183 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -1098.486722306933, + 810.4872086439996, + 16.810165277790183 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -1095.486722306933, + 810.4872086439996, + 16.810165277790183 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -1092.486722306933, + 810.4872086439996, + 16.810165277790183 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -1089.486722306933, + 810.4872086439996, + 16.810165277790183 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -1086.486722306933, + 810.4872086439996, + 16.810165277790183 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -1083.486722306933, + 810.4872086439996, + 16.810165277790183 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -1083.486722306933, + 810.4872086439996, + 16.810165277790183 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -1080.8886460955796, + 808.9872086439996, + 16.810165277790183 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1068.0, + 804.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_20-2-37_1584892936/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_20-2-37_1584892936/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..207c4ce926ae6c52f3936d00a2ea9717a87dd569 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_20-2-37_1584892936/pose.jsonl @@ -0,0 +1,574 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2396.954565840278, + -2513.5856140972273, + 37.298626013906215 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2399.552642051631, + -2512.0856140972273, + 37.298626013906215 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2402.1507182629844, + -2510.5856140972273, + 37.298626013906215 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2404.7487944743375, + -2509.0856140972273, + 37.298626013906215 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2407.3468706856906, + -2507.5856140972273, + 37.298626013906215 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2409.944946897044, + -2506.0856140972273, + 37.298626013906215 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2412.543023108397, + -2504.5856140972273, + 37.298626013906215 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2415.14109931975, + -2503.0856140972273, + 37.298626013906215 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2417.7391755311032, + -2501.5856140972273, + 37.298626013906215 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2420.3372517424564, + -2500.0856140972273, + 37.298626013906215 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2422.9353279538095, + -2498.5856140972273, + 37.298626013906215 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2425.5334041651627, + -2497.0856140972273, + 37.298626013906215 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2428.131480376516, + -2495.5856140972273, + 37.298626013906215 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2430.729556587869, + -2494.0856140972273, + 37.298626013906215 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2433.327632799222, + -2492.5856140972273, + 37.298626013906215 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2435.9257090105752, + -2491.0856140972273, + 37.298626013906215 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2438.5237852219284, + -2489.5856140972273, + 37.298626013906215 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2441.1218614332815, + -2488.0856140972273, + 37.298626013906215 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2443.7199376446347, + -2486.5856140972273, + 37.298626013906215 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2446.318013855988, + -2485.0856140972273, + 37.298626013906215 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2448.916090067341, + -2483.5856140972273, + 37.298626013906215 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2451.514166278694, + -2482.0856140972273, + 37.298626013906215 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2454.1122424900473, + -2480.5856140972273, + 37.298626013906215 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2456.7103187014004, + -2479.0856140972273, + 37.298626013906215 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2459.3083949127536, + -2477.5856140972273, + 37.298626013906215 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2461.9064711241067, + -2476.0856140972273, + 37.298626013906215 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2464.50454733546, + -2474.5856140972273, + 37.298626013906215 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2467.102623546813, + -2473.0856140972273, + 37.298626013906215 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2469.700699758166, + -2471.5856140972273, + 37.298626013906215 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2472.2987759695193, + -2470.0856140972273, + 37.298626013906215 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2474.8968521808724, + -2468.5856140972273, + 37.298626013906215 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2477.4949283922256, + -2467.0856140972273, + 37.298626013906215 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2480.0930046035787, + -2465.5856140972273, + 37.298626013906215 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2482.691080814932, + -2464.0856140972273, + 37.298626013906215 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2485.289157026285, + -2462.5856140972273, + 37.298626013906215 + ], + "type": "turn right", + "value": 30, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -2485.289157026285, + -2462.5856140972273, + 37.298626013906215 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931673 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -2486.789157026285, + -2459.987537885874, + 37.298626013906215 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -2488.289157026285, + -2457.389461674521, + 37.298626013906215 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -2489.789157026285, + -2454.791385463168, + 37.298626013906215 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -2491.289157026285, + -2452.1933092518148, + 37.298626013906215 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -2492.789157026285, + -2449.5952330404616, + 37.298626013906215 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -2494.289157026285, + -2446.9971568291085, + 37.298626013906215 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -2495.789157026285, + -2444.3990806177553, + 37.298626013906215 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023932237 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2520.0, + -2424.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_20-22-0_50086034/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_20-22-0_50086034/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6f1fda691e33d2ac8fbb63d49b8983e057635381 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_20-22-0_50086034/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 550.8631726587308, + 913.8207199380586, + 23.661044377577646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 550.8631726587308, + 916.8207199380586, + 23.661044377577646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 550.8631726587308, + 919.8207199380586, + 23.661044377577646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 550.8631726587308, + 922.8207199380586, + 23.661044377577646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 550.8631726587308, + 925.8207199380586, + 23.661044377577646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 550.8631726587308, + 928.8207199380586, + 23.661044377577646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 550.8631726587308, + 931.8207199380586, + 23.661044377577646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 550.8631726587308, + 934.8207199380586, + 23.661044377577646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 550.8631726587308, + 937.8207199380586, + 23.661044377577646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 550.8631726587308, + 940.8207199380586, + 23.661044377577646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 550.8631726587308, + 943.8207199380586, + 23.661044377577646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 550.8631726587308, + 946.8207199380586, + 23.661044377577646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 550.8631726587308, + 949.8207199380586, + 23.661044377577646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 550.8631726587308, + 952.8207199380586, + 23.661044377577646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 550.8631726587308, + 955.8207199380586, + 23.661044377577646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 550.8631726587308, + 958.8207199380586, + 23.661044377577646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 550.8631726587308, + 961.8207199380586, + 23.661044377577646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 550.8631726587308, + 964.8207199380586, + 23.661044377577646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 550.8631726587308, + 967.8207199380586, + 23.661044377577646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 550.8631726587308, + 970.8207199380586, + 23.661044377577646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 550.8631726587308, + 973.8207199380586, + 23.661044377577646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 550.8631726587308, + 976.8207199380586, + 23.661044377577646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 550.8631726587308, + 979.8207199380586, + 23.661044377577646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 550.8631726587308, + 982.8207199380586, + 23.661044377577646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 550.8631726587308, + 985.8207199380586, + 23.661044377577646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 550.8631726587308, + 988.8207199380586, + 23.661044377577646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 550.8631726587308, + 991.8207199380586, + 23.661044377577646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 550.8631726587308, + 994.8207199380586, + 23.661044377577646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 550.8631726587308, + 997.8207199380586, + 23.661044377577646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 550.8631726587308, + 1000.8207199380586, + 23.661044377577646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 550.8631726587308, + 1003.8207199380586, + 23.661044377577646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 550.8631726587308, + 1006.8207199380586, + 23.661044377577646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 550.8631726587308, + 1009.8207199380586, + 23.661044377577646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 550.8631726587308, + 1012.8207199380586, + 23.661044377577646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 550.8631726587308, + 1015.8207199380586, + 23.661044377577646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 550.8631726587308, + 1018.8207199380586, + 23.661044377577646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 550.8631726587308, + 1021.8207199380586, + 23.661044377577646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 550.8631726587308, + 1024.8207199380586, + 23.661044377577646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 550.8631726587308, + 1027.8207199380586, + 23.661044377577646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 550.8631726587308, + 1030.8207199380586, + 23.661044377577646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 550.8631726587308, + 1033.8207199380586, + 23.661044377577646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 550.8631726587308, + 1036.8207199380586, + 23.661044377577646 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 550.8631726587308, + 1036.8207199380586, + 23.661044377577646 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 550.8631726587308, + 1036.8207199380586, + 23.661044377577646 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 548.2650964473776, + 1038.3207199380586, + 23.661044377577646 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 545.6670202360242, + 1039.8207199380586, + 23.661044377577646 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 543.0689440246708, + 1041.3207199380586, + 23.661044377577646 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 543.0689440246708, + 1041.3207199380586, + 23.661044377577646 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 541.5689440246708, + 1043.918796149412, + 23.661044377577646 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 540.0689440246708, + 1046.5168723607653, + 23.661044377577646 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 538.5689440246708, + 1049.1149485721187, + 23.661044377577646 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 536.0, + 1072.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_20-23-25_1369705107/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_20-23-25_1369705107/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3a9fbaf2f023f5f62c5a57f6e0d55346c84eafa6 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_20-23-25_1369705107/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 708.9227313429178, + 908.3754737540762, + 36.15801761306321 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 705.9227313429178, + 908.3754737540762, + 36.15801761306321 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 702.9227313429178, + 908.3754737540762, + 36.15801761306321 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 699.9227313429178, + 908.3754737540762, + 36.15801761306321 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 696.9227313429178, + 908.3754737540762, + 36.15801761306321 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 693.9227313429178, + 908.3754737540762, + 36.15801761306321 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 690.9227313429178, + 908.3754737540762, + 36.15801761306321 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 687.9227313429178, + 908.3754737540762, + 36.15801761306321 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 684.9227313429178, + 908.3754737540762, + 36.15801761306321 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 681.9227313429178, + 908.3754737540762, + 36.15801761306321 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 678.9227313429178, + 908.3754737540762, + 36.15801761306321 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 675.9227313429178, + 908.3754737540762, + 36.15801761306321 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 672.9227313429178, + 908.3754737540762, + 36.15801761306321 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 669.9227313429178, + 908.3754737540762, + 36.15801761306321 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 666.9227313429178, + 908.3754737540762, + 36.15801761306321 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 663.9227313429178, + 908.3754737540762, + 36.15801761306321 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 660.9227313429178, + 908.3754737540762, + 36.15801761306321 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 657.9227313429178, + 908.3754737540762, + 36.15801761306321 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 654.9227313429178, + 908.3754737540762, + 36.15801761306321 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 651.9227313429178, + 908.3754737540762, + 36.15801761306321 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 648.9227313429178, + 908.3754737540762, + 36.15801761306321 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 645.9227313429178, + 908.3754737540762, + 36.15801761306321 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 642.9227313429178, + 908.3754737540762, + 36.15801761306321 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 639.9227313429178, + 908.3754737540762, + 36.15801761306321 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 636.9227313429178, + 908.3754737540762, + 36.15801761306321 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 633.9227313429178, + 908.3754737540762, + 36.15801761306321 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 630.9227313429178, + 908.3754737540762, + 36.15801761306321 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 627.9227313429178, + 908.3754737540762, + 36.15801761306321 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 624.9227313429178, + 908.3754737540762, + 36.15801761306321 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 621.9227313429178, + 908.3754737540762, + 36.15801761306321 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 618.9227313429178, + 908.3754737540762, + 36.15801761306321 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 615.9227313429178, + 908.3754737540762, + 36.15801761306321 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 612.9227313429178, + 908.3754737540762, + 36.15801761306321 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 609.9227313429178, + 908.3754737540762, + 36.15801761306321 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 606.9227313429178, + 908.3754737540762, + 36.15801761306321 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 603.9227313429178, + 908.3754737540762, + 36.15801761306321 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 600.9227313429178, + 908.3754737540762, + 36.15801761306321 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 600.9227313429178, + 908.3754737540762, + 36.15801761306321 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 598.3246551315644, + 906.8754737540762, + 36.15801761306321 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 595.7265789202111, + 905.3754737540762, + 36.15801761306321 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 593.1285027088577, + 903.8754737540762, + 36.15801761306321 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 590.5304264975043, + 902.3754737540762, + 36.15801761306321 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 587.932350286151, + 900.8754737540762, + 36.15801761306321 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 585.3342740747976, + 899.3754737540762, + 36.15801761306321 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 582.7361978634442, + 897.8754737540762, + 36.15801761306321 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 580.1381216520908, + 896.3754737540762, + 36.15801761306321 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 577.5400454407375, + 894.8754737540762, + 36.15801761306321 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 574.9419692293841, + 893.3754737540762, + 36.15801761306321 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 572.3438930180307, + 891.8754737540762, + 36.15801761306321 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 569.7458168066773, + 890.3754737540762, + 36.15801761306321 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 567.147740595324, + 888.8754737540762, + 36.15801761306321 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 564.5496643839706, + 887.3754737540762, + 36.15801761306321 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 564.5496643839706, + 887.3754737540762, + 36.15801761306321 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 561.5496643839706, + 887.3754737540762, + 36.15801761306321 + ], + "type": "stop", + "value": 0, + "yaw": -3.1415926535898024 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 532.0, + 884.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_20-25-6_1239547247/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_20-25-6_1239547247/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..338a5d83087769f95cd56369f507af6647797715 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_20-25-6_1239547247/pose.jsonl @@ -0,0 +1,327 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1001.658291031325, + 2340.3428109375423, + 17.904178874866215 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -998.658291031325, + 2340.3428109375423, + 17.904178874866215 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -995.658291031325, + 2340.3428109375423, + 17.904178874866215 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -992.658291031325, + 2340.3428109375423, + 17.904178874866215 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -989.658291031325, + 2340.3428109375423, + 17.904178874866215 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -986.658291031325, + 2340.3428109375423, + 17.904178874866215 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -983.658291031325, + 2340.3428109375423, + 17.904178874866215 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -980.658291031325, + 2340.3428109375423, + 17.904178874866215 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -977.658291031325, + 2340.3428109375423, + 17.904178874866215 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -974.658291031325, + 2340.3428109375423, + 17.904178874866215 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -971.658291031325, + 2340.3428109375423, + 17.904178874866215 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -968.658291031325, + 2340.3428109375423, + 17.904178874866215 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -965.658291031325, + 2340.3428109375423, + 17.904178874866215 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -962.658291031325, + 2340.3428109375423, + 17.904178874866215 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -959.658291031325, + 2340.3428109375423, + 17.904178874866215 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -956.658291031325, + 2340.3428109375423, + 17.904178874866215 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -953.658291031325, + 2340.3428109375423, + 17.904178874866215 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -953.658291031325, + 2340.3428109375423, + 17.904178874866215 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -951.0602148199716, + 2341.8428109375423, + 17.904178874866215 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -948.4621386086183, + 2343.3428109375423, + 17.904178874866215 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -945.8640623972649, + 2344.8428109375423, + 17.904178874866215 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -943.2659861859115, + 2346.3428109375423, + 17.904178874866215 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -940.6679099745581, + 2347.8428109375423, + 17.904178874866215 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -938.0698337632048, + 2349.3428109375423, + 17.904178874866215 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -832.0, + 2364.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_20-26-22_872358697/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_20-26-22_872358697/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e5385cd98cd7c80e8ecf6821635d14143b1d3077 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_20-26-22_872358697/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1895.8491592420608, + 825.7668008029866, + 20.921336435456503 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1897.3491592420608, + 828.36487701434, + 20.921336435456503 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1898.8491592420608, + 830.9629532256934, + 20.921336435456503 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1900.3491592420608, + 833.5610294370467, + 20.921336435456503 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1901.8491592420608, + 836.1591056484001, + 20.921336435456503 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1903.3491592420608, + 838.7571818597535, + 20.921336435456503 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1904.8491592420608, + 841.3552580711068, + 20.921336435456503 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1906.3491592420608, + 843.9533342824602, + 20.921336435456503 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1907.8491592420608, + 846.5514104938136, + 20.921336435456503 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1909.3491592420608, + 849.149486705167, + 20.921336435456503 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1910.8491592420608, + 851.7475629165203, + 20.921336435456503 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1912.3491592420608, + 854.3456391278737, + 20.921336435456503 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1913.8491592420608, + 856.9437153392271, + 20.921336435456503 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1915.3491592420608, + 859.5417915505805, + 20.921336435456503 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1916.8491592420608, + 862.1398677619338, + 20.921336435456503 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1918.3491592420608, + 864.7379439732872, + 20.921336435456503 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1919.8491592420608, + 867.3360201846406, + 20.921336435456503 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1921.3491592420608, + 869.934096395994, + 20.921336435456503 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1922.8491592420608, + 872.5321726073473, + 20.921336435456503 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1924.3491592420608, + 875.1302488187007, + 20.921336435456503 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1925.8491592420608, + 877.7283250300541, + 20.921336435456503 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1927.3491592420608, + 880.3264012414074, + 20.921336435456503 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1928.8491592420608, + 882.9244774527608, + 20.921336435456503 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1930.3491592420608, + 885.5225536641142, + 20.921336435456503 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1931.8491592420608, + 888.1206298754676, + 20.921336435456503 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1933.3491592420608, + 890.7187060868209, + 20.921336435456503 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1934.8491592420608, + 893.3167822981743, + 20.921336435456503 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1936.3491592420608, + 895.9148585095277, + 20.921336435456503 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1937.8491592420608, + 898.512934720881, + 20.921336435456503 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1939.3491592420608, + 901.1110109322344, + 20.921336435456503 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1940.8491592420608, + 903.7090871435878, + 20.921336435456503 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1942.3491592420608, + 906.3071633549412, + 20.921336435456503 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1943.8491592420608, + 908.9052395662945, + 20.921336435456503 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1945.3491592420608, + 911.5033157776479, + 20.921336435456503 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1946.8491592420608, + 914.1013919890013, + 20.921336435456503 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1948.3491592420608, + 916.6994682003547, + 20.921336435456503 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1949.8491592420608, + 919.297544411708, + 20.921336435456503 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1951.3491592420608, + 921.8956206230614, + 20.921336435456503 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1952.8491592420608, + 924.4936968344148, + 20.921336435456503 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1954.3491592420608, + 927.0917730457682, + 20.921336435456503 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1955.8491592420608, + 929.6898492571215, + 20.921336435456503 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1957.3491592420608, + 932.2879254684749, + 20.921336435456503 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1958.8491592420608, + 934.8860016798283, + 20.921336435456503 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1960.3491592420608, + 937.4840778911816, + 20.921336435456503 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1961.8491592420608, + 940.082154102535, + 20.921336435456503 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1963.3491592420608, + 942.6802303138884, + 20.921336435456503 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1964.8491592420608, + 945.2783065252418, + 20.921336435456503 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1966.3491592420608, + 947.8763827365951, + 20.921336435456503 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1967.8491592420608, + 950.4744589479485, + 20.921336435456503 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1969.3491592420608, + 953.0725351593019, + 20.921336435456503 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1970.8491592420608, + 955.6706113706553, + 20.921336435456503 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1970.8491592420608, + 955.6706113706553, + 20.921336435456503 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1973.4472354534141, + 957.1706113706553, + 20.921336435456503 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755983084 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1984.0, + 976.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_20-36-29_1146810336/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_20-36-29_1146810336/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..436d8285f319afd21c985d46ac6ccc35446507b4 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_20-36-29_1146810336/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2939.601923028347, + -932.0218125096093, + 37.83575692719231 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2941.101923028347, + -929.423736298256, + 37.83575692719231 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2942.601923028347, + -926.8256600869026, + 37.83575692719231 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2944.101923028347, + -924.2275838755493, + 37.83575692719231 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2945.601923028347, + -921.6295076641959, + 37.83575692719231 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2947.101923028347, + -919.0314314528425, + 37.83575692719231 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2948.601923028347, + -916.4333552414892, + 37.83575692719231 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2950.101923028347, + -913.8352790301358, + 37.83575692719231 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2951.601923028347, + -911.2372028187824, + 37.83575692719231 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2953.101923028347, + -908.639126607429, + 37.83575692719231 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2954.601923028347, + -906.0410503960757, + 37.83575692719231 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2956.101923028347, + -903.4429741847223, + 37.83575692719231 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2957.601923028347, + -900.8448979733689, + 37.83575692719231 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2959.101923028347, + -898.2468217620155, + 37.83575692719231 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2960.601923028347, + -895.6487455506622, + 37.83575692719231 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2962.101923028347, + -893.0506693393088, + 37.83575692719231 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2963.601923028347, + -890.4525931279554, + 37.83575692719231 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2965.101923028347, + -887.854516916602, + 37.83575692719231 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2966.601923028347, + -885.2564407052487, + 37.83575692719231 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2968.101923028347, + -882.6583644938953, + 37.83575692719231 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2969.601923028347, + -880.0602882825419, + 37.83575692719231 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2971.101923028347, + -877.4622120711886, + 37.83575692719231 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2972.601923028347, + -874.8641358598352, + 37.83575692719231 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2974.101923028347, + -872.2660596484818, + 37.83575692719231 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2975.601923028347, + -869.6679834371284, + 37.83575692719231 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2977.101923028347, + -867.0699072257751, + 37.83575692719231 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2978.601923028347, + -864.4718310144217, + 37.83575692719231 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2978.601923028347, + -864.4718310144217, + 37.83575692719231 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2978.601923028347, + -861.4718310144217, + 37.83575692719231 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2978.601923028347, + -858.4718310144217, + 37.83575692719231 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2978.601923028347, + -855.4718310144217, + 37.83575692719231 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2978.601923028347, + -852.4718310144217, + 37.83575692719231 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2978.601923028347, + -849.4718310144217, + 37.83575692719231 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2978.601923028347, + -846.4718310144217, + 37.83575692719231 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2978.601923028347, + -843.4718310144217, + 37.83575692719231 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -2978.601923028347, + -840.4718310144217, + 37.83575692719231 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -2978.601923028347, + -837.4718310144217, + 37.83575692719231 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -2978.601923028347, + -834.4718310144217, + 37.83575692719231 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -2978.601923028347, + -831.4718310144217, + 37.83575692719231 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -2978.601923028347, + -828.4718310144217, + 37.83575692719231 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -2978.601923028347, + -825.4718310144217, + 37.83575692719231 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -2978.601923028347, + -822.4718310144217, + 37.83575692719231 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -2978.601923028347, + -819.4718310144217, + 37.83575692719231 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -2978.601923028347, + -816.4718310144217, + 37.83575692719231 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -2978.601923028347, + -813.4718310144217, + 37.83575692719231 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -2978.601923028347, + -810.4718310144217, + 37.83575692719231 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -2978.601923028347, + -807.4718310144217, + 37.83575692719231 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -2978.601923028347, + -804.4718310144217, + 37.83575692719231 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -2978.601923028347, + -801.4718310144217, + 37.83575692719231 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -2978.601923028347, + -798.4718310144217, + 37.83575692719231 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -2978.601923028347, + -795.4718310144217, + 37.83575692719231 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2988.0, + -764.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_20-37-26_218574358/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_20-37-26_218574358/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f99b1bb462313ae98669329587d3ebbe0a936ea6 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_20-37-26_218574358/pose.jsonl @@ -0,0 +1,756 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -931.4553611563902, + 1359.1856977901652, + 16.989976928669734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -932.9553611563902, + 1356.5876215788119, + 16.989976928669734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -934.4553611563902, + 1353.9895453674585, + 16.989976928669734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -935.9553611563902, + 1351.3914691561051, + 16.989976928669734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -937.4553611563902, + 1348.7933929447518, + 16.989976928669734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -938.9553611563902, + 1346.1953167333984, + 16.989976928669734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -940.4553611563902, + 1343.597240522045, + 16.989976928669734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -941.9553611563902, + 1340.9991643106916, + 16.989976928669734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -943.4553611563902, + 1338.4010880993383, + 16.989976928669734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -944.9553611563902, + 1335.803011887985, + 16.989976928669734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -946.4553611563902, + 1333.2049356766315, + 16.989976928669734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -947.9553611563902, + 1330.6068594652781, + 16.989976928669734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -949.4553611563902, + 1328.0087832539248, + 16.989976928669734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -950.9553611563902, + 1325.4107070425714, + 16.989976928669734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -952.4553611563902, + 1322.812630831218, + 16.989976928669734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -953.9553611563902, + 1320.2145546198647, + 16.989976928669734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -955.4553611563902, + 1317.6164784085113, + 16.989976928669734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -956.9553611563902, + 1315.018402197158, + 16.989976928669734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -958.4553611563902, + 1312.4203259858045, + 16.989976928669734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -959.9553611563902, + 1309.8222497744512, + 16.989976928669734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -961.4553611563902, + 1307.2241735630978, + 16.989976928669734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -962.9553611563902, + 1304.6260973517444, + 16.989976928669734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -964.4553611563902, + 1302.028021140391, + 16.989976928669734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -965.9553611563902, + 1299.4299449290377, + 16.989976928669734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -967.4553611563902, + 1296.8318687176843, + 16.989976928669734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -968.9553611563902, + 1294.233792506331, + 16.989976928669734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -970.4553611563902, + 1291.6357162949776, + 16.989976928669734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -971.9553611563902, + 1289.0376400836242, + 16.989976928669734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -973.4553611563902, + 1286.4395638722708, + 16.989976928669734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -974.9553611563902, + 1283.8414876609174, + 16.989976928669734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -976.4553611563902, + 1281.243411449564, + 16.989976928669734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -977.9553611563902, + 1278.6453352382107, + 16.989976928669734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -979.4553611563902, + 1276.0472590268573, + 16.989976928669734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -980.9553611563902, + 1273.449182815504, + 16.989976928669734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -982.4553611563902, + 1270.8511066041506, + 16.989976928669734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -983.9553611563902, + 1268.2530303927972, + 16.989976928669734 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -983.9553611563902, + 1268.2530303927972, + 16.989976928669734 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -983.9553611563902, + 1265.2530303927972, + 16.989976928669734 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -983.9553611563902, + 1262.2530303927972, + 16.989976928669734 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -983.9553611563902, + 1259.2530303927972, + 16.989976928669734 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -983.9553611563902, + 1256.2530303927972, + 16.989976928669734 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -983.9553611563902, + 1253.2530303927972, + 16.989976928669734 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -983.9553611563902, + 1250.2530303927972, + 16.989976928669734 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -983.9553611563902, + 1247.2530303927972, + 16.989976928669734 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -983.9553611563902, + 1244.2530303927972, + 16.989976928669734 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -983.9553611563902, + 1241.2530303927972, + 16.989976928669734 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -983.9553611563902, + 1238.2530303927972, + 16.989976928669734 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -983.9553611563902, + 1235.2530303927972, + 16.989976928669734 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -983.9553611563902, + 1232.2530303927972, + 16.989976928669734 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -983.9553611563902, + 1229.2530303927972, + 16.989976928669734 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -983.9553611563902, + 1226.2530303927972, + 16.989976928669734 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -983.9553611563902, + 1226.2530303927972, + 16.989976928669734 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -983.9553611563902, + 1226.2530303927972, + 16.989976928669734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -986.5534373677435, + 1224.7530303927972, + 16.989976928669734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -989.1515135790969, + 1223.2530303927972, + 16.989976928669734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -991.7495897904503, + 1221.7530303927972, + 16.989976928669734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -994.3476660018036, + 1220.2530303927972, + 16.989976928669734 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1000.0, + 1208.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_20-4-39_460552958/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_20-4-39_460552958/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ff55956f2926080a9d5a32d4da0eafbd5c0a5daf --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_20-4-39_460552958/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2364.271493567393, + -561.4365530691674, + 19.35631865165395 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2364.271493567393, + -558.4365530691674, + 19.35631865165395 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2364.271493567393, + -555.4365530691674, + 19.35631865165395 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2364.271493567393, + -552.4365530691674, + 19.35631865165395 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2364.271493567393, + -549.4365530691674, + 19.35631865165395 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2364.271493567393, + -546.4365530691674, + 19.35631865165395 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2364.271493567393, + -543.4365530691674, + 19.35631865165395 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2364.271493567393, + -540.4365530691674, + 19.35631865165395 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2364.271493567393, + -537.4365530691674, + 19.35631865165395 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2364.271493567393, + -534.4365530691674, + 19.35631865165395 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2364.271493567393, + -531.4365530691674, + 19.35631865165395 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2364.271493567393, + -528.4365530691674, + 19.35631865165395 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2364.271493567393, + -525.4365530691674, + 19.35631865165395 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2364.271493567393, + -522.4365530691674, + 19.35631865165395 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2364.271493567393, + -519.4365530691674, + 19.35631865165395 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2364.271493567393, + -516.4365530691674, + 19.35631865165395 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2364.271493567393, + -513.4365530691674, + 19.35631865165395 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2364.271493567393, + -510.4365530691674, + 19.35631865165395 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2364.271493567393, + -507.4365530691674, + 19.35631865165395 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2364.271493567393, + -504.4365530691674, + 19.35631865165395 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2364.271493567393, + -501.4365530691674, + 19.35631865165395 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2364.271493567393, + -498.4365530691674, + 19.35631865165395 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2364.271493567393, + -495.4365530691674, + 19.35631865165395 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2364.271493567393, + -492.4365530691674, + 19.35631865165395 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2364.271493567393, + -489.4365530691674, + 19.35631865165395 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2364.271493567393, + -486.4365530691674, + 19.35631865165395 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2364.271493567393, + -483.4365530691674, + 19.35631865165395 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2364.271493567393, + -480.4365530691674, + 19.35631865165395 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2364.271493567393, + -477.4365530691674, + 19.35631865165395 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2364.271493567393, + -474.4365530691674, + 19.35631865165395 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2364.271493567393, + -471.4365530691674, + 19.35631865165395 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2364.271493567393, + -468.4365530691674, + 19.35631865165395 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2364.271493567393, + -465.4365530691674, + 19.35631865165395 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2364.271493567393, + -462.4365530691674, + 19.35631865165395 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2364.271493567393, + -459.4365530691674, + 19.35631865165395 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -2364.271493567393, + -459.4365530691674, + 19.35631865165395 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -2364.271493567393, + -459.4365530691674, + 19.35631865165395 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -2361.67341735604, + -457.9365530691674, + 19.35631865165395 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -2359.0753411446867, + -456.4365530691674, + 19.35631865165395 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -2356.4772649333336, + -454.9365530691674, + 19.35631865165395 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -2353.8791887219804, + -453.4365530691674, + 19.35631865165395 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -2353.8791887219804, + -453.4365530691674, + 19.35631865165395 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196626 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -2352.3791887219804, + -450.8384768578141, + 19.35631865165395 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -2350.8791887219804, + -448.2404006464608, + 19.35631865165395 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2344.0, + -412.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_20-40-37_2146690120/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_20-40-37_2146690120/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..48351719876077e3f1fc635108dd299a9959f8b9 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_20-40-37_2146690120/pose.jsonl @@ -0,0 +1,353 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2161.119809852722, + 1471.226316455146, + 25.228474421537392 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2164.119809852722, + 1471.226316455146, + 25.228474421537392 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2167.119809852722, + 1471.226316455146, + 25.228474421537392 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2170.119809852722, + 1471.226316455146, + 25.228474421537392 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2173.119809852722, + 1471.226316455146, + 25.228474421537392 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2176.119809852722, + 1471.226316455146, + 25.228474421537392 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2179.119809852722, + 1471.226316455146, + 25.228474421537392 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2182.119809852722, + 1471.226316455146, + 25.228474421537392 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2185.119809852722, + 1471.226316455146, + 25.228474421537392 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 2188.119809852722, + 1471.226316455146, + 25.228474421537392 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2191.119809852722, + 1471.226316455146, + 25.228474421537392 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2194.119809852722, + 1471.226316455146, + 25.228474421537392 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 2197.119809852722, + 1471.226316455146, + 25.228474421537392 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 2197.119809852722, + 1471.226316455146, + 25.228474421537392 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 2199.717886064075, + 1469.726316455146, + 25.228474421537392 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 2202.3159622754283, + 1468.226316455146, + 25.228474421537392 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 2204.9140384867815, + 1466.726316455146, + 25.228474421537392 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 2207.5121146981346, + 1465.226316455146, + 25.228474421537392 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 2210.1101909094878, + 1463.726316455146, + 25.228474421537392 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 2212.708267120841, + 1462.226316455146, + 25.228474421537392 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 2215.306343332194, + 1460.726316455146, + 25.228474421537392 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 2217.904419543547, + 1459.226316455146, + 25.228474421537392 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 2220.5024957549003, + 1457.726316455146, + 25.228474421537392 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 2223.1005719662535, + 1456.226316455146, + 25.228474421537392 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 2225.6986481776066, + 1454.726316455146, + 25.228474421537392 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 2228.29672438896, + 1453.226316455146, + 25.228474421537392 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755983272 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2320.0, + 1424.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_20-41-23_115133608/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_20-41-23_115133608/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..44279a9255136ee7dd19a548e170f7e5b50daf85 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_20-41-23_115133608/pose.jsonl @@ -0,0 +1,821 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1474.2247535597826, + -12.196604869945531, + 23.128676210039412 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1475.7247535597826, + -14.794681081298847, + 23.128676210039412 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1477.2247535597826, + -17.392757292652163, + 23.128676210039412 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1478.7247535597826, + -19.99083350400548, + 23.128676210039412 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1480.2247535597826, + -22.588909715358795, + 23.128676210039412 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1481.7247535597826, + -25.18698592671211, + 23.128676210039412 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1483.2247535597826, + -27.785062138065427, + 23.128676210039412 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1484.7247535597826, + -30.383138349418743, + 23.128676210039412 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1486.2247535597826, + -32.98121456077206, + 23.128676210039412 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1487.7247535597826, + -35.579290772125375, + 23.128676210039412 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1489.2247535597826, + -38.17736698347869, + 23.128676210039412 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1490.7247535597826, + -40.77544319483201, + 23.128676210039412 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1492.2247535597826, + -43.37351940618532, + 23.128676210039412 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1492.2247535597826, + -43.37351940618532, + 23.128676210039412 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1492.2247535597826, + -46.37351940618532, + 23.128676210039412 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1492.2247535597826, + -49.37351940618532, + 23.128676210039412 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1492.2247535597826, + -52.37351940618532, + 23.128676210039412 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1492.2247535597826, + -55.37351940618532, + 23.128676210039412 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1492.2247535597826, + -58.37351940618532, + 23.128676210039412 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1492.2247535597826, + -61.37351940618532, + 23.128676210039412 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1492.2247535597826, + -64.37351940618532, + 23.128676210039412 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1492.2247535597826, + -67.37351940618532, + 23.128676210039412 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1492.2247535597826, + -70.37351940618532, + 23.128676210039412 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1492.2247535597826, + -73.37351940618532, + 23.128676210039412 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1492.2247535597826, + -76.37351940618532, + 23.128676210039412 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1492.2247535597826, + -79.37351940618532, + 23.128676210039412 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1492.2247535597826, + -82.37351940618532, + 23.128676210039412 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1492.2247535597826, + -85.37351940618532, + 23.128676210039412 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1492.2247535597826, + -88.37351940618532, + 23.128676210039412 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1492.2247535597826, + -91.37351940618532, + 23.128676210039412 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1492.2247535597826, + -91.37351940618532, + 23.128676210039412 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1493.7247535597826, + -93.97159561753864, + 23.128676210039412 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1495.2247535597826, + -96.56967182889196, + 23.128676210039412 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1496.7247535597826, + -99.16774804024527, + 23.128676210039412 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1498.2247535597826, + -101.76582425159859, + 23.128676210039412 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1499.7247535597826, + -104.3639004629519, + 23.128676210039412 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1501.2247535597826, + -106.96197667430522, + 23.128676210039412 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1502.7247535597826, + -109.56005288565854, + 23.128676210039412 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1504.2247535597826, + -112.15812909701185, + 23.128676210039412 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1505.7247535597826, + -114.75620530836517, + 23.128676210039412 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1507.2247535597826, + -117.35428151971848, + 23.128676210039412 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1508.7247535597826, + -119.9523577310718, + 23.128676210039412 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1510.2247535597826, + -122.55043394242512, + 23.128676210039412 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1511.7247535597826, + -125.14851015377843, + 23.128676210039412 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1513.2247535597826, + -127.74658636513175, + 23.128676210039412 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1513.2247535597826, + -127.74658636513175, + 23.128676210039412 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1515.822829771136, + -129.24658636513175, + 23.128676210039412 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1518.4209059824893, + -130.74658636513175, + 23.128676210039412 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1521.0189821938427, + -132.24658636513175, + 23.128676210039412 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1523.617058405196, + -133.74658636513175, + 23.128676210039412 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -1526.2151346165494, + -135.24658636513175, + 23.128676210039412 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -1528.8132108279028, + -136.74658636513175, + 23.128676210039412 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -1531.4112870392562, + -138.24658636513175, + 23.128676210039412 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -1534.0093632506096, + -139.74658636513175, + 23.128676210039412 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -1536.607439461963, + -141.24658636513175, + 23.128676210039412 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -1539.2055156733163, + -142.74658636513175, + 23.128676210039412 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -1541.8035918846697, + -144.24658636513175, + 23.128676210039412 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -1544.401668096023, + -145.74658636513175, + 23.128676210039412 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -1546.9997443073764, + -147.24658636513175, + 23.128676210039412 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -1546.9997443073764, + -147.24658636513175, + 23.128676210039412 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -1548.4997443073764, + -149.84466257648506, + 23.128676210039412 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -1549.9997443073764, + -152.44273878783838, + 23.128676210039412 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1560.0, + -168.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_20-49-19_1613393829/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_20-49-19_1613393829/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..340e3d8c8ecd3918586c220e1e071729d4f4b9d0 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_20-49-19_1613393829/pose.jsonl @@ -0,0 +1,782 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1030.7582850903877, + -2343.56315978446, + 15.148197743661271 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1027.7582850903877, + -2343.56315978446, + 15.148197743661271 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1024.7582850903877, + -2343.56315978446, + 15.148197743661271 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1021.7582850903877, + -2343.56315978446, + 15.148197743661271 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1018.7582850903877, + -2343.56315978446, + 15.148197743661271 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1015.7582850903877, + -2343.56315978446, + 15.148197743661271 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1012.7582850903877, + -2343.56315978446, + 15.148197743661271 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1009.7582850903877, + -2343.56315978446, + 15.148197743661271 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1006.7582850903877, + -2343.56315978446, + 15.148197743661271 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1003.7582850903877, + -2343.56315978446, + 15.148197743661271 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1000.7582850903877, + -2343.56315978446, + 15.148197743661271 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1000.7582850903877, + -2343.56315978446, + 15.148197743661271 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -998.1602088790344, + -2345.06315978446, + 15.148197743661271 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -995.562132667681, + -2346.56315978446, + 15.148197743661271 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -995.562132667681, + -2346.56315978446, + 15.148197743661271 + ], + "type": "go straight", + "value": 3, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -992.562132667681, + -2346.56315978446, + 15.148197743661271 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -989.562132667681, + -2346.56315978446, + 15.148197743661271 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -986.562132667681, + -2346.56315978446, + 15.148197743661271 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -983.562132667681, + -2346.56315978446, + 15.148197743661271 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -980.562132667681, + -2346.56315978446, + 15.148197743661271 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -977.562132667681, + -2346.56315978446, + 15.148197743661271 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -974.562132667681, + -2346.56315978446, + 15.148197743661271 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -971.562132667681, + -2346.56315978446, + 15.148197743661271 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -968.562132667681, + -2346.56315978446, + 15.148197743661271 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -965.562132667681, + -2346.56315978446, + 15.148197743661271 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -962.562132667681, + -2346.56315978446, + 15.148197743661271 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -959.562132667681, + -2346.56315978446, + 15.148197743661271 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -956.562132667681, + -2346.56315978446, + 15.148197743661271 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -953.562132667681, + -2346.56315978446, + 15.148197743661271 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -950.562132667681, + -2346.56315978446, + 15.148197743661271 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -947.562132667681, + -2346.56315978446, + 15.148197743661271 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -944.562132667681, + -2346.56315978446, + 15.148197743661271 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -941.562132667681, + -2346.56315978446, + 15.148197743661271 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -938.562132667681, + -2346.56315978446, + 15.148197743661271 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -935.562132667681, + -2346.56315978446, + 15.148197743661271 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -932.562132667681, + -2346.56315978446, + 15.148197743661271 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -932.562132667681, + -2346.56315978446, + 15.148197743661271 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -929.9640564563276, + -2345.06315978446, + 15.148197743661271 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -927.3659802449743, + -2343.56315978446, + 15.148197743661271 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -924.7679040336209, + -2342.06315978446, + 15.148197743661271 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -922.1698278222675, + -2340.56315978446, + 15.148197743661271 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -919.5717516109141, + -2339.06315978446, + 15.148197743661271 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -916.9736753995608, + -2337.56315978446, + 15.148197743661271 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -914.3755991882074, + -2336.06315978446, + 15.148197743661271 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -911.777522976854, + -2334.56315978446, + 15.148197743661271 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -909.1794467655006, + -2333.06315978446, + 15.148197743661271 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -906.5813705541473, + -2331.56315978446, + 15.148197743661271 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -903.9832943427939, + -2330.06315978446, + 15.148197743661271 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -901.3852181314405, + -2328.56315978446, + 15.148197743661271 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -898.7871419200872, + -2327.06315978446, + 15.148197743661271 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -896.1890657087338, + -2325.56315978446, + 15.148197743661271 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -893.5909894973804, + -2324.06315978446, + 15.148197743661271 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -890.992913286027, + -2322.56315978446, + 15.148197743661271 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -888.3948370746737, + -2321.06315978446, + 15.148197743661271 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -885.7967608633203, + -2319.56315978446, + 15.148197743661271 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -883.1986846519669, + -2318.06315978446, + 15.148197743661271 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -880.6006084406135, + -2316.56315978446, + 15.148197743661271 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -878.0025322292602, + -2315.06315978446, + 15.148197743661271 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -875.4044560179068, + -2313.56315978446, + 15.148197743661271 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -856.0, + -2308.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_20-58-17_1781804171/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_20-58-17_1781804171/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3bdc280708d66e8d84d16844b66c33d205f031b7 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_20-58-17_1781804171/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2157.1227923755932, + 1994.5239234523156, + 15.904521128370927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2155.6227923755932, + 1997.121999663669, + 15.904521128370927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2154.1227923755932, + 1999.7200758750223, + 15.904521128370927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2152.6227923755932, + 2002.3181520863757, + 15.904521128370927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2151.1227923755932, + 2004.916228297729, + 15.904521128370927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2149.6227923755932, + 2007.5143045090824, + 15.904521128370927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2148.1227923755932, + 2010.1123807204358, + 15.904521128370927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2146.6227923755932, + 2012.7104569317892, + 15.904521128370927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2145.1227923755932, + 2015.3085331431425, + 15.904521128370927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2143.6227923755932, + 2017.906609354496, + 15.904521128370927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2142.1227923755932, + 2020.5046855658493, + 15.904521128370927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2140.6227923755932, + 2023.1027617772027, + 15.904521128370927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2139.1227923755932, + 2025.700837988556, + 15.904521128370927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2137.6227923755932, + 2028.2989141999094, + 15.904521128370927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2136.1227923755932, + 2030.8969904112628, + 15.904521128370927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2134.6227923755932, + 2033.4950666226162, + 15.904521128370927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2133.1227923755932, + 2036.0931428339695, + 15.904521128370927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2131.6227923755932, + 2038.691219045323, + 15.904521128370927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2130.1227923755932, + 2041.2892952566763, + 15.904521128370927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2128.6227923755932, + 2043.8873714680296, + 15.904521128370927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2127.1227923755932, + 2046.485447679383, + 15.904521128370927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2125.6227923755932, + 2049.083523890736, + 15.904521128370927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2124.1227923755932, + 2051.6816001020893, + 15.904521128370927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2122.6227923755932, + 2054.2796763134425, + 15.904521128370927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2121.1227923755932, + 2056.8777525247956, + 15.904521128370927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2119.6227923755932, + 2059.4758287361487, + 15.904521128370927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2118.1227923755932, + 2062.073904947502, + 15.904521128370927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2116.6227923755932, + 2064.671981158855, + 15.904521128370927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2115.1227923755932, + 2067.270057370208, + 15.904521128370927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2113.6227923755932, + 2069.8681335815613, + 15.904521128370927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2112.1227923755932, + 2072.4662097929145, + 15.904521128370927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2110.6227923755932, + 2075.0642860042676, + 15.904521128370927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2109.1227923755932, + 2077.6623622156208, + 15.904521128370927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2107.6227923755932, + 2080.260438426974, + 15.904521128370927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2106.1227923755932, + 2082.858514638327, + 15.904521128370927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -2104.6227923755932, + 2085.45659084968, + 15.904521128370927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -2103.1227923755932, + 2088.0546670610333, + 15.904521128370927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -2101.6227923755932, + 2090.6527432723865, + 15.904521128370927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -2100.1227923755932, + 2093.2508194837396, + 15.904521128370927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -2098.6227923755932, + 2095.848895695093, + 15.904521128370927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -2097.1227923755932, + 2098.446971906446, + 15.904521128370927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -2095.6227923755932, + 2101.045048117799, + 15.904521128370927 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -2095.6227923755932, + 2101.045048117799, + 15.904521128370927 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982706 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -2093.02471616424, + 2102.545048117799, + 15.904521128370927 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -2090.426639952887, + 2104.045048117799, + 15.904521128370927 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755983272 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2068.0, + 2140.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_20-7-3_1227734017/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_20-7-3_1227734017/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4533248c8091364265a6e73a6a38d6a17ed46b43 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_20-7-3_1227734017/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1430.201094765347, + 829.2925992802122, + 26.87426540163752 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1433.201094765347, + 829.2925992802122, + 26.87426540163752 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1436.201094765347, + 829.2925992802122, + 26.87426540163752 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1439.201094765347, + 829.2925992802122, + 26.87426540163752 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1442.201094765347, + 829.2925992802122, + 26.87426540163752 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1445.201094765347, + 829.2925992802122, + 26.87426540163752 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1448.201094765347, + 829.2925992802122, + 26.87426540163752 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1451.201094765347, + 829.2925992802122, + 26.87426540163752 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1454.201094765347, + 829.2925992802122, + 26.87426540163752 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1457.201094765347, + 829.2925992802122, + 26.87426540163752 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1460.201094765347, + 829.2925992802122, + 26.87426540163752 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1463.201094765347, + 829.2925992802122, + 26.87426540163752 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1466.201094765347, + 829.2925992802122, + 26.87426540163752 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1469.201094765347, + 829.2925992802122, + 26.87426540163752 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1472.201094765347, + 829.2925992802122, + 26.87426540163752 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1475.201094765347, + 829.2925992802122, + 26.87426540163752 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1478.201094765347, + 829.2925992802122, + 26.87426540163752 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1481.201094765347, + 829.2925992802122, + 26.87426540163752 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1484.201094765347, + 829.2925992802122, + 26.87426540163752 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1487.201094765347, + 829.2925992802122, + 26.87426540163752 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1490.201094765347, + 829.2925992802122, + 26.87426540163752 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1493.201094765347, + 829.2925992802122, + 26.87426540163752 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1496.201094765347, + 829.2925992802122, + 26.87426540163752 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1499.201094765347, + 829.2925992802122, + 26.87426540163752 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1502.201094765347, + 829.2925992802122, + 26.87426540163752 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1505.201094765347, + 829.2925992802122, + 26.87426540163752 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1508.201094765347, + 829.2925992802122, + 26.87426540163752 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1511.201094765347, + 829.2925992802122, + 26.87426540163752 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1514.201094765347, + 829.2925992802122, + 26.87426540163752 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1517.201094765347, + 829.2925992802122, + 26.87426540163752 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1520.201094765347, + 829.2925992802122, + 26.87426540163752 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1523.201094765347, + 829.2925992802122, + 26.87426540163752 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1526.201094765347, + 829.2925992802122, + 26.87426540163752 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1529.201094765347, + 829.2925992802122, + 26.87426540163752 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1532.201094765347, + 829.2925992802122, + 26.87426540163752 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1535.201094765347, + 829.2925992802122, + 26.87426540163752 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1538.201094765347, + 829.2925992802122, + 26.87426540163752 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1541.201094765347, + 829.2925992802122, + 26.87426540163752 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1544.201094765347, + 829.2925992802122, + 26.87426540163752 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1547.201094765347, + 829.2925992802122, + 26.87426540163752 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1550.201094765347, + 829.2925992802122, + 26.87426540163752 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1550.201094765347, + 829.2925992802122, + 26.87426540163752 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1552.7991709767005, + 827.7925992802122, + 26.87426540163752 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1555.3972471880538, + 826.2925992802122, + 26.87426540163752 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1557.9953233994072, + 824.7925992802122, + 26.87426540163752 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1560.5933996107606, + 823.2925992802122, + 26.87426540163752 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1563.191475822114, + 821.7925992802122, + 26.87426540163752 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1563.191475822114, + 821.7925992802122, + 26.87426540163752 + ], + "type": "go straight", + "value": 3, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1566.191475822114, + 821.7925992802122, + 26.87426540163752 + ], + "type": "stop", + "value": 0, + "yaw": 9.43689570931383e-15 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1592.0, + 820.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_20-9-55_126183327/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_20-9-55_126183327/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6aadc1bf63ced6943f426a3560abf8463e7048f5 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_20-9-55_126183327/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2657.363918399048, + 819.4574690022695, + 25.6303816809758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2659.9619946104012, + 817.9574690022695, + 25.6303816809758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2662.5600708217544, + 816.4574690022695, + 25.6303816809758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2665.1581470331075, + 814.9574690022695, + 25.6303816809758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2667.7562232444607, + 813.4574690022695, + 25.6303816809758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2670.354299455814, + 811.9574690022695, + 25.6303816809758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2672.952375667167, + 810.4574690022695, + 25.6303816809758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2675.55045187852, + 808.9574690022695, + 25.6303816809758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2678.1485280898733, + 807.4574690022695, + 25.6303816809758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2680.7466043012264, + 805.9574690022695, + 25.6303816809758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2683.3446805125795, + 804.4574690022695, + 25.6303816809758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2685.9427567239327, + 802.9574690022695, + 25.6303816809758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2688.540832935286, + 801.4574690022695, + 25.6303816809758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2691.138909146639, + 799.9574690022695, + 25.6303816809758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2693.736985357992, + 798.4574690022695, + 25.6303816809758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2696.3350615693453, + 796.9574690022695, + 25.6303816809758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2698.9331377806984, + 795.4574690022695, + 25.6303816809758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2701.5312139920516, + 793.9574690022695, + 25.6303816809758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2704.1292902034047, + 792.4574690022695, + 25.6303816809758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2706.727366414758, + 790.9574690022695, + 25.6303816809758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2709.325442626111, + 789.4574690022695, + 25.6303816809758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2711.923518837464, + 787.9574690022695, + 25.6303816809758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2714.5215950488173, + 786.4574690022695, + 25.6303816809758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2717.1196712601704, + 784.9574690022695, + 25.6303816809758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2719.7177474715236, + 783.4574690022695, + 25.6303816809758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2722.3158236828767, + 781.9574690022695, + 25.6303816809758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2724.91389989423, + 780.4574690022695, + 25.6303816809758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2727.511976105583, + 778.9574690022695, + 25.6303816809758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2730.110052316936, + 777.4574690022695, + 25.6303816809758 + ], + "type": "turn left", + "value": 30, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2730.110052316936, + 777.4574690022695, + 25.6303816809758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931673 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2731.610052316936, + 774.8593927909162, + 25.6303816809758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2733.110052316936, + 772.2613165795628, + 25.6303816809758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2734.610052316936, + 769.6632403682095, + 25.6303816809758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2736.110052316936, + 767.0651641568561, + 25.6303816809758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2737.610052316936, + 764.4670879455027, + 25.6303816809758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -2739.110052316936, + 761.8690117341494, + 25.6303816809758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -2740.610052316936, + 759.270935522796, + 25.6303816809758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -2742.110052316936, + 756.6728593114426, + 25.6303816809758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -2743.610052316936, + 754.0747831000892, + 25.6303816809758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -2745.110052316936, + 751.4767068887359, + 25.6303816809758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -2746.610052316936, + 748.8786306773825, + 25.6303816809758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -2748.110052316936, + 746.2805544660291, + 25.6303816809758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -2749.610052316936, + 743.6824782546757, + 25.6303816809758 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -2749.610052316936, + 743.6824782546757, + 25.6303816809758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -2752.2081285282893, + 742.1824782546757, + 25.6303816809758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -2754.8062047396425, + 740.6824782546757, + 25.6303816809758 + ], + "type": "stop", + "value": 0, + "yaw": -2.617993877991466 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2784.0, + 716.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_21-10-4_1324901554/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_21-10-4_1324901554/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..018e59dd62a209140d5574c15d0ea033d7ad01f1 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_21-10-4_1324901554/pose.jsonl @@ -0,0 +1,860 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 227.0010924876302, + -1503.6716596953208, + 22.270799294861234 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 230.0010924876302, + -1503.6716596953208, + 22.270799294861234 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 233.0010924876302, + -1503.6716596953208, + 22.270799294861234 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 236.0010924876302, + -1503.6716596953208, + 22.270799294861234 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 239.0010924876302, + -1503.6716596953208, + 22.270799294861234 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 242.0010924876302, + -1503.6716596953208, + 22.270799294861234 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 245.0010924876302, + -1503.6716596953208, + 22.270799294861234 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 248.0010924876302, + -1503.6716596953208, + 22.270799294861234 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 251.0010924876302, + -1503.6716596953208, + 22.270799294861234 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 254.0010924876302, + -1503.6716596953208, + 22.270799294861234 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 257.0010924876302, + -1503.6716596953208, + 22.270799294861234 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 260.0010924876302, + -1503.6716596953208, + 22.270799294861234 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 263.0010924876302, + -1503.6716596953208, + 22.270799294861234 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 263.0010924876302, + -1503.6716596953208, + 22.270799294861234 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 265.59916869898353, + -1505.1716596953208, + 22.270799294861234 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 268.19724491033685, + -1506.6716596953208, + 22.270799294861234 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 270.79532112169017, + -1508.1716596953208, + 22.270799294861234 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 273.3933973330435, + -1509.6716596953208, + 22.270799294861234 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 275.9914735443968, + -1511.1716596953208, + 22.270799294861234 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 278.5895497557501, + -1512.6716596953208, + 22.270799294861234 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 281.18762596710343, + -1514.1716596953208, + 22.270799294861234 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 283.78570217845675, + -1515.6716596953208, + 22.270799294861234 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 286.38377838981006, + -1517.1716596953208, + 22.270799294861234 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 288.9818546011634, + -1518.6716596953208, + 22.270799294861234 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 291.5799308125167, + -1520.1716596953208, + 22.270799294861234 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 294.17800702387, + -1521.6716596953208, + 22.270799294861234 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 296.7760832352233, + -1523.1716596953208, + 22.270799294861234 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 299.37415944657664, + -1524.6716596953208, + 22.270799294861234 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 301.97223565792996, + -1526.1716596953208, + 22.270799294861234 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 304.5703118692833, + -1527.6716596953208, + 22.270799294861234 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 307.1683880806366, + -1529.1716596953208, + 22.270799294861234 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 309.7664642919899, + -1530.6716596953208, + 22.270799294861234 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 312.3645405033432, + -1532.1716596953208, + 22.270799294861234 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 314.96261671469654, + -1533.6716596953208, + 22.270799294861234 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 317.56069292604985, + -1535.1716596953208, + 22.270799294861234 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 317.56069292604985, + -1535.1716596953208, + 22.270799294861234 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 320.56069292604985, + -1535.1716596953208, + 22.270799294861234 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 323.56069292604985, + -1535.1716596953208, + 22.270799294861234 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 326.56069292604985, + -1535.1716596953208, + 22.270799294861234 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 326.56069292604985, + -1535.1716596953208, + 22.270799294861234 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 326.56069292604985, + -1535.1716596953208, + 22.270799294861234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 328.06069292604985, + -1537.7697359066742, + 22.270799294861234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 329.56069292604985, + -1540.3678121180276, + 22.270799294861234 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 329.56069292604985, + -1540.3678121180276, + 22.270799294861234 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 332.15876913740317, + -1541.8678121180276, + 22.270799294861234 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 334.7568453487565, + -1543.3678121180276, + 22.270799294861234 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 337.3549215601098, + -1544.8678121180276, + 22.270799294861234 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 339.9529977714631, + -1546.3678121180276, + 22.270799294861234 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 339.9529977714631, + -1546.3678121180276, + 22.270799294861234 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 339.9529977714631, + -1546.3678121180276, + 22.270799294861234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 339.9529977714631, + -1549.3678121180276, + 22.270799294861234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 339.9529977714631, + -1552.3678121180276, + 22.270799294861234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 339.9529977714631, + -1555.3678121180276, + 22.270799294861234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 339.9529977714631, + -1558.3678121180276, + 22.270799294861234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 339.9529977714631, + -1561.3678121180276, + 22.270799294861234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 339.9529977714631, + -1564.3678121180276, + 22.270799294861234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 339.9529977714631, + -1567.3678121180276, + 22.270799294861234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 339.9529977714631, + -1570.3678121180276, + 22.270799294861234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 339.9529977714631, + -1573.3678121180276, + 22.270799294861234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 339.9529977714631, + -1576.3678121180276, + 22.270799294861234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 339.9529977714631, + -1579.3678121180276, + 22.270799294861234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 339.9529977714631, + -1582.3678121180276, + 22.270799294861234 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 339.9529977714631, + -1582.3678121180276, + 22.270799294861234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 341.4529977714631, + -1584.965888329381, + 22.270799294861234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 342.9529977714631, + -1587.5639645407343, + 22.270799294861234 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 360.0, + -1600.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_21-11-18_503984129/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_21-11-18_503984129/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..12857330bea9505b24fc4a5c4d9f65a558df88ab --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_21-11-18_503984129/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1333.9933561533414, + -1236.5915886826938, + 35.8986517357705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1335.4933561533414, + -1239.1896648940472, + 35.8986517357705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1336.9933561533414, + -1241.7877411054005, + 35.8986517357705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1338.4933561533414, + -1244.385817316754, + 35.8986517357705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1339.9933561533414, + -1246.9838935281073, + 35.8986517357705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1341.4933561533414, + -1249.5819697394606, + 35.8986517357705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1342.9933561533414, + -1252.180045950814, + 35.8986517357705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1344.4933561533414, + -1254.7781221621674, + 35.8986517357705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1345.9933561533414, + -1257.3761983735208, + 35.8986517357705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1347.4933561533414, + -1259.9742745848741, + 35.8986517357705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1348.9933561533414, + -1262.5723507962275, + 35.8986517357705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1350.4933561533414, + -1265.1704270075809, + 35.8986517357705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1351.9933561533414, + -1267.7685032189343, + 35.8986517357705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1353.4933561533414, + -1270.3665794302876, + 35.8986517357705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1354.9933561533414, + -1272.964655641641, + 35.8986517357705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1356.4933561533414, + -1275.5627318529944, + 35.8986517357705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1357.9933561533414, + -1278.1608080643477, + 35.8986517357705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1359.4933561533414, + -1280.7588842757011, + 35.8986517357705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1360.9933561533414, + -1283.3569604870545, + 35.8986517357705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1362.4933561533414, + -1285.9550366984079, + 35.8986517357705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1363.9933561533414, + -1288.5531129097612, + 35.8986517357705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1365.4933561533414, + -1291.1511891211146, + 35.8986517357705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1366.9933561533414, + -1293.749265332468, + 35.8986517357705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1368.4933561533414, + -1296.3473415438214, + 35.8986517357705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1369.9933561533414, + -1298.9454177551747, + 35.8986517357705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1371.4933561533414, + -1301.543493966528, + 35.8986517357705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1372.9933561533414, + -1304.1415701778815, + 35.8986517357705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1374.4933561533414, + -1306.7396463892348, + 35.8986517357705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1375.9933561533414, + -1309.3377226005882, + 35.8986517357705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1377.4933561533414, + -1311.9357988119416, + 35.8986517357705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1378.9933561533414, + -1314.533875023295, + 35.8986517357705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1380.4933561533414, + -1317.1319512346483, + 35.8986517357705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1381.9933561533414, + -1319.7300274460017, + 35.8986517357705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1383.4933561533414, + -1322.328103657355, + 35.8986517357705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1384.9933561533414, + -1324.9261798687085, + 35.8986517357705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1386.4933561533414, + -1327.5242560800618, + 35.8986517357705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1387.9933561533414, + -1330.1223322914152, + 35.8986517357705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1389.4933561533414, + -1332.7204085027686, + 35.8986517357705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1390.9933561533414, + -1335.318484714122, + 35.8986517357705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1392.4933561533414, + -1337.9165609254753, + 35.8986517357705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1393.9933561533414, + -1340.5146371368287, + 35.8986517357705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1395.4933561533414, + -1343.112713348182, + 35.8986517357705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1396.9933561533414, + -1345.7107895595354, + 35.8986517357705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1398.4933561533414, + -1348.3088657708888, + 35.8986517357705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1399.9933561533414, + -1350.9069419822422, + 35.8986517357705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1401.4933561533414, + -1353.5050181935956, + 35.8986517357705 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1401.4933561533414, + -1353.5050181935956, + 35.8986517357705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1401.4933561533414, + -1356.5050181935956, + 35.8986517357705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1401.4933561533414, + -1359.5050181935956, + 35.8986517357705 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1412.0, + -1384.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_21-15-54_1772954887/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_21-15-54_1772954887/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..72863b3fccb94a6ef1ef2c8bcaece25ac331df6e --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_21-15-54_1772954887/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2190.0798775511785, + 2037.8689540991625, + 38.46435464948203 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2192.6779537625316, + 2036.3689540991625, + 38.46435464948203 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2195.2760299738848, + 2034.8689540991625, + 38.46435464948203 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2197.874106185238, + 2033.3689540991625, + 38.46435464948203 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2200.472182396591, + 2031.8689540991625, + 38.46435464948203 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2203.070258607944, + 2030.3689540991625, + 38.46435464948203 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2205.6683348192973, + 2028.8689540991625, + 38.46435464948203 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2208.2664110306505, + 2027.3689540991625, + 38.46435464948203 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2210.8644872420036, + 2025.8689540991625, + 38.46435464948203 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 2213.462563453357, + 2024.3689540991625, + 38.46435464948203 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2216.06063966471, + 2022.8689540991625, + 38.46435464948203 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2218.658715876063, + 2021.3689540991625, + 38.46435464948203 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 2221.256792087416, + 2019.8689540991625, + 38.46435464948203 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 2223.8548682987694, + 2018.3689540991625, + 38.46435464948203 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 2226.4529445101225, + 2016.8689540991625, + 38.46435464948203 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 2229.0510207214757, + 2015.3689540991625, + 38.46435464948203 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 2231.649096932829, + 2013.8689540991625, + 38.46435464948203 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 2234.247173144182, + 2012.3689540991625, + 38.46435464948203 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 2236.845249355535, + 2010.8689540991625, + 38.46435464948203 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 2239.4433255668882, + 2009.3689540991625, + 38.46435464948203 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 2242.0414017782414, + 2007.8689540991625, + 38.46435464948203 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 2244.6394779895945, + 2006.3689540991625, + 38.46435464948203 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 2247.2375542009477, + 2004.8689540991625, + 38.46435464948203 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 2249.835630412301, + 2003.3689540991625, + 38.46435464948203 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 2252.433706623654, + 2001.8689540991625, + 38.46435464948203 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 2255.031782835007, + 2000.3689540991625, + 38.46435464948203 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 2257.6298590463603, + 1998.8689540991625, + 38.46435464948203 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 2260.2279352577134, + 1997.3689540991625, + 38.46435464948203 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 2262.8260114690665, + 1995.8689540991625, + 38.46435464948203 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 2262.8260114690665, + 1995.8689540991625, + 38.46435464948203 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196626 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 2264.3260114690665, + 1993.270877887809, + 38.46435464948203 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 2265.8260114690665, + 1990.6728016764557, + 38.46435464948203 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 2267.3260114690665, + 1988.0747254651023, + 38.46435464948203 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 2268.8260114690665, + 1985.476649253749, + 38.46435464948203 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 2270.3260114690665, + 1982.8785730423956, + 38.46435464948203 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 2271.8260114690665, + 1980.2804968310422, + 38.46435464948203 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 2273.3260114690665, + 1977.6824206196889, + 38.46435464948203 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 2274.8260114690665, + 1975.0843444083355, + 38.46435464948203 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 2274.8260114690665, + 1975.0843444083355, + 38.46435464948203 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 2277.4240876804197, + 1973.5843444083355, + 38.46435464948203 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 2280.022163891773, + 1972.0843444083355, + 38.46435464948203 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 2282.620240103126, + 1970.5843444083355, + 38.46435464948203 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 2285.218316314479, + 1969.0843444083355, + 38.46435464948203 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 2287.8163925258323, + 1967.5843444083355, + 38.46435464948203 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755983272 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2324.0, + 1940.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_21-17-43_1350422715/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_21-17-43_1350422715/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cba4b43449481fa92e621619a7c7e830918b5547 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_21-17-43_1350422715/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 129.10824868389187, + 1249.7977948321306, + 31.51619715084882 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 127.60824868389187, + 1252.395871043484, + 31.51619715084882 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 126.10824868389187, + 1254.9939472548374, + 31.51619715084882 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 124.60824868389187, + 1257.5920234661908, + 31.51619715084882 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 123.10824868389187, + 1260.1900996775441, + 31.51619715084882 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 121.60824868389187, + 1262.7881758888975, + 31.51619715084882 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 120.10824868389187, + 1265.3862521002509, + 31.51619715084882 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 118.60824868389187, + 1267.9843283116043, + 31.51619715084882 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 117.10824868389187, + 1270.5824045229576, + 31.51619715084882 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 115.60824868389187, + 1273.180480734311, + 31.51619715084882 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 114.10824868389187, + 1275.7785569456644, + 31.51619715084882 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 112.60824868389187, + 1278.3766331570177, + 31.51619715084882 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 111.10824868389187, + 1280.9747093683711, + 31.51619715084882 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 109.60824868389187, + 1283.5727855797245, + 31.51619715084882 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 108.10824868389187, + 1286.1708617910779, + 31.51619715084882 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 106.60824868389187, + 1288.7689380024312, + 31.51619715084882 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 105.10824868389187, + 1291.3670142137846, + 31.51619715084882 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 103.60824868389187, + 1293.965090425138, + 31.51619715084882 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 102.10824868389187, + 1296.5631666364914, + 31.51619715084882 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 100.60824868389187, + 1299.1612428478447, + 31.51619715084882 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 100.60824868389187, + 1299.1612428478447, + 31.51619715084882 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 100.60824868389187, + 1302.1612428478447, + 31.51619715084882 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 100.60824868389187, + 1305.1612428478447, + 31.51619715084882 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 100.60824868389187, + 1308.1612428478447, + 31.51619715084882 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 100.60824868389187, + 1311.1612428478447, + 31.51619715084882 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 100.60824868389187, + 1314.1612428478447, + 31.51619715084882 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 100.60824868389187, + 1317.1612428478447, + 31.51619715084882 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 100.60824868389187, + 1320.1612428478447, + 31.51619715084882 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 100.60824868389187, + 1320.1612428478447, + 31.51619715084882 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 99.10824868389187, + 1322.759319059198, + 31.51619715084882 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 97.60824868389187, + 1325.3573952705515, + 31.51619715084882 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 96.10824868389187, + 1327.9554714819049, + 31.51619715084882 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 94.60824868389187, + 1330.5535476932582, + 31.51619715084882 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 93.10824868389187, + 1333.1516239046116, + 31.51619715084882 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 91.60824868389187, + 1335.749700115965, + 31.51619715084882 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 90.10824868389187, + 1338.3477763273183, + 31.51619715084882 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 88.60824868389187, + 1340.9458525386717, + 31.51619715084882 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 87.10824868389187, + 1343.543928750025, + 31.51619715084882 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 87.10824868389187, + 1343.543928750025, + 31.51619715084882 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 84.51017247253856, + 1345.043928750025, + 31.51619715084882 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 81.91209626118524, + 1346.543928750025, + 31.51619715084882 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 79.31402004983192, + 1348.043928750025, + 31.51619715084882 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 76.71594383847861, + 1349.543928750025, + 31.51619715084882 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 74.11786762712529, + 1351.043928750025, + 31.51619715084882 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 71.51979141577198, + 1352.543928750025, + 31.51619715084882 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 68.92171520441866, + 1354.043928750025, + 31.51619715084882 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 66.32363899306534, + 1355.543928750025, + 31.51619715084882 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 63.72556278171203, + 1357.043928750025, + 31.51619715084882 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 61.12748657035871, + 1358.543928750025, + 31.51619715084882 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 48.0, + 1376.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_21-19-26_1780238390/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_21-19-26_1780238390/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6d126f3998abe1d27e451d5bb81ea1559574c6ac --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_21-19-26_1780238390/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 535.5758715433026, + -2435.3775260217403, + 21.42572647110038 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 532.9777953319492, + -2433.8775260217403, + 21.42572647110038 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 530.3797191205958, + -2432.3775260217403, + 21.42572647110038 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 527.7816429092425, + -2430.8775260217403, + 21.42572647110038 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 525.1835666978891, + -2429.3775260217403, + 21.42572647110038 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 522.5854904865357, + -2427.8775260217403, + 21.42572647110038 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 519.9874142751823, + -2426.3775260217403, + 21.42572647110038 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 517.389338063829, + -2424.8775260217403, + 21.42572647110038 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 514.7912618524756, + -2423.3775260217403, + 21.42572647110038 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 512.1931856411222, + -2421.8775260217403, + 21.42572647110038 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 509.5951094297689, + -2420.3775260217403, + 21.42572647110038 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 506.9970332184156, + -2418.8775260217403, + 21.42572647110038 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 504.3989570070623, + -2417.3775260217403, + 21.42572647110038 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 501.80088079570896, + -2415.8775260217403, + 21.42572647110038 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 499.20280458435565, + -2414.3775260217403, + 21.42572647110038 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 496.60472837300233, + -2412.8775260217403, + 21.42572647110038 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 494.006652161649, + -2411.3775260217403, + 21.42572647110038 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 491.4085759502957, + -2409.8775260217403, + 21.42572647110038 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 488.8104997389424, + -2408.3775260217403, + 21.42572647110038 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 486.21242352758907, + -2406.8775260217403, + 21.42572647110038 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 486.21242352758907, + -2406.8775260217403, + 21.42572647110038 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 484.71242352758907, + -2404.279449810387, + 21.42572647110038 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 483.21242352758907, + -2401.681373599034, + 21.42572647110038 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 481.71242352758907, + -2399.083297387681, + 21.42572647110038 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 480.21242352758907, + -2396.4852211763277, + 21.42572647110038 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 478.71242352758907, + -2393.8871449649746, + 21.42572647110038 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 477.21242352758907, + -2391.2890687536215, + 21.42572647110038 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 475.71242352758907, + -2388.6909925422683, + 21.42572647110038 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 474.21242352758907, + -2386.092916330915, + 21.42572647110038 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 472.71242352758907, + -2383.494840119562, + 21.42572647110038 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 471.21242352758907, + -2380.896763908209, + 21.42572647110038 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 469.71242352758907, + -2378.2986876968557, + 21.42572647110038 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 468.21242352758907, + -2375.7006114855026, + 21.42572647110038 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 466.71242352758907, + -2373.1025352741494, + 21.42572647110038 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 465.21242352758907, + -2370.5044590627963, + 21.42572647110038 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 463.71242352758907, + -2367.906382851443, + 21.42572647110038 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 462.21242352758907, + -2365.30830664009, + 21.42572647110038 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 460.71242352758907, + -2362.710230428737, + 21.42572647110038 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 459.21242352758907, + -2360.1121542173837, + 21.42572647110038 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 457.71242352758907, + -2357.5140780060306, + 21.42572647110038 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023932237 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 428.0, + -2328.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_21-20-18_1998713308/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_21-20-18_1998713308/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dcfbbb59a062d4a3a61c6833b3b16a4229534690 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_21-20-18_1998713308/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1551.474615857598, + -2680.8744639156685, + 32.40443761187099 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1552.974615857598, + -2683.4725401270216, + 32.40443761187099 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1554.474615857598, + -2686.0706163383747, + 32.40443761187099 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1555.974615857598, + -2688.668692549728, + 32.40443761187099 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1557.474615857598, + -2691.266768761081, + 32.40443761187099 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1558.974615857598, + -2693.864844972434, + 32.40443761187099 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1560.474615857598, + -2696.4629211837873, + 32.40443761187099 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1561.974615857598, + -2699.0609973951405, + 32.40443761187099 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1563.474615857598, + -2701.6590736064936, + 32.40443761187099 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1564.974615857598, + -2704.2571498178468, + 32.40443761187099 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1566.474615857598, + -2706.8552260292, + 32.40443761187099 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1567.974615857598, + -2709.453302240553, + 32.40443761187099 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1569.474615857598, + -2712.051378451906, + 32.40443761187099 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1570.974615857598, + -2714.6494546632593, + 32.40443761187099 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1572.474615857598, + -2717.2475308746125, + 32.40443761187099 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1573.974615857598, + -2719.8456070859656, + 32.40443761187099 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1575.474615857598, + -2722.443683297319, + 32.40443761187099 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1576.974615857598, + -2725.041759508672, + 32.40443761187099 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1578.474615857598, + -2727.639835720025, + 32.40443761187099 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1579.974615857598, + -2730.237911931378, + 32.40443761187099 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1581.474615857598, + -2732.8359881427314, + 32.40443761187099 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1582.974615857598, + -2735.4340643540845, + 32.40443761187099 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1584.474615857598, + -2738.0321405654377, + 32.40443761187099 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1585.974615857598, + -2740.630216776791, + 32.40443761187099 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1587.474615857598, + -2743.228292988144, + 32.40443761187099 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1588.974615857598, + -2745.826369199497, + 32.40443761187099 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1590.474615857598, + -2748.4244454108502, + 32.40443761187099 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1591.974615857598, + -2751.0225216222034, + 32.40443761187099 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1593.474615857598, + -2753.6205978335565, + 32.40443761187099 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1594.974615857598, + -2756.2186740449097, + 32.40443761187099 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1596.474615857598, + -2758.816750256263, + 32.40443761187099 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1597.974615857598, + -2761.414826467616, + 32.40443761187099 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1599.474615857598, + -2764.012902678969, + 32.40443761187099 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1600.974615857598, + -2766.6109788903223, + 32.40443761187099 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1602.474615857598, + -2769.2090551016754, + 32.40443761187099 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1603.974615857598, + -2771.8071313130285, + 32.40443761187099 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1605.474615857598, + -2774.4052075243817, + 32.40443761187099 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1606.974615857598, + -2777.003283735735, + 32.40443761187099 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1608.474615857598, + -2779.601359947088, + 32.40443761187099 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1609.974615857598, + -2782.199436158441, + 32.40443761187099 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1611.474615857598, + -2784.7975123697943, + 32.40443761187099 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1612.974615857598, + -2787.3955885811474, + 32.40443761187099 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1612.974615857598, + -2787.3955885811474, + 32.40443761187099 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948681 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1612.974615857598, + -2790.3955885811474, + 32.40443761187099 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1612.974615857598, + -2793.3955885811474, + 32.40443761187099 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1612.974615857598, + -2796.3955885811474, + 32.40443761187099 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1612.974615857598, + -2799.3955885811474, + 32.40443761187099 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1612.974615857598, + -2802.3955885811474, + 32.40443761187099 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1612.974615857598, + -2805.3955885811474, + 32.40443761187099 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1612.974615857598, + -2808.3955885811474, + 32.40443761187099 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1612.974615857598, + -2811.3955885811474, + 32.40443761187099 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1612.974615857598, + -2814.3955885811474, + 32.40443761187099 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1612.974615857598, + -2817.3955885811474, + 32.40443761187099 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1612.974615857598, + -2820.3955885811474, + 32.40443761187099 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1612.974615857598, + -2823.3955885811474, + 32.40443761187099 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1620.0, + -2840.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_21-24-38_665228399/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_21-24-38_665228399/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8746cc55a7d58cfde3007197c842f6c577b71c2b --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_21-24-38_665228399/pose.jsonl @@ -0,0 +1,574 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 915.3803280556529, + 510.8433760418385, + 17.305136335123102 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 915.3803280556529, + 507.8433760418385, + 17.305136335123102 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 915.3803280556529, + 504.8433760418385, + 17.305136335123102 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 915.3803280556529, + 501.8433760418385, + 17.305136335123102 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 915.3803280556529, + 498.8433760418385, + 17.305136335123102 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 915.3803280556529, + 495.8433760418385, + 17.305136335123102 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 915.3803280556529, + 492.8433760418385, + 17.305136335123102 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 915.3803280556529, + 489.8433760418385, + 17.305136335123102 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 915.3803280556529, + 486.8433760418385, + 17.305136335123102 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 915.3803280556529, + 483.8433760418385, + 17.305136335123102 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 915.3803280556529, + 480.8433760418385, + 17.305136335123102 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 915.3803280556529, + 477.8433760418385, + 17.305136335123102 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 915.3803280556529, + 474.8433760418385, + 17.305136335123102 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 915.3803280556529, + 471.8433760418385, + 17.305136335123102 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 915.3803280556529, + 468.8433760418385, + 17.305136335123102 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 915.3803280556529, + 465.8433760418385, + 17.305136335123102 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 915.3803280556529, + 462.8433760418385, + 17.305136335123102 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 915.3803280556529, + 459.8433760418385, + 17.305136335123102 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 915.3803280556529, + 456.8433760418385, + 17.305136335123102 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 915.3803280556529, + 453.8433760418385, + 17.305136335123102 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 915.3803280556529, + 450.8433760418385, + 17.305136335123102 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 915.3803280556529, + 447.8433760418385, + 17.305136335123102 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 915.3803280556529, + 444.8433760418385, + 17.305136335123102 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 915.3803280556529, + 441.8433760418385, + 17.305136335123102 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 915.3803280556529, + 438.8433760418385, + 17.305136335123102 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 915.3803280556529, + 435.8433760418385, + 17.305136335123102 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 915.3803280556529, + 432.8433760418385, + 17.305136335123102 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 915.3803280556529, + 429.8433760418385, + 17.305136335123102 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 915.3803280556529, + 426.8433760418385, + 17.305136335123102 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 915.3803280556529, + 423.8433760418385, + 17.305136335123102 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 915.3803280556529, + 420.8433760418385, + 17.305136335123102 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 915.3803280556529, + 417.8433760418385, + 17.305136335123102 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 915.3803280556529, + 414.8433760418385, + 17.305136335123102 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 915.3803280556529, + 411.8433760418385, + 17.305136335123102 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 915.3803280556529, + 411.8433760418385, + 17.305136335123102 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 913.8803280556529, + 409.2452998304852, + 17.305136335123102 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 912.3803280556529, + 406.64722361913186, + 17.305136335123102 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 910.8803280556529, + 404.04914740777855, + 17.305136335123102 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 909.3803280556529, + 401.45107119642523, + 17.305136335123102 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 907.8803280556529, + 398.8529949850719, + 17.305136335123102 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 906.3803280556529, + 396.2549187737186, + 17.305136335123102 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 906.3803280556529, + 396.2549187737186, + 17.305136335123102 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 906.3803280556529, + 393.2549187737186, + 17.305136335123102 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 904.0, + 356.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_21-29-7_2103816215/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_21-29-7_2103816215/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2ac927b507c7096728d5b880ec9889fd18eb8e94 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_21-29-7_2103816215/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2726.1644408661746, + 469.5072393810862, + 22.619443945865086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2724.6644408661746, + 472.1053155924395, + 22.619443945865086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2723.1644408661746, + 474.70339180379284, + 22.619443945865086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2721.6644408661746, + 477.30146801514616, + 22.619443945865086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2720.1644408661746, + 479.8995442264995, + 22.619443945865086 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2720.1644408661746, + 479.8995442264995, + 22.619443945865086 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2717.5663646548214, + 481.3995442264995, + 22.619443945865086 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2717.5663646548214, + 481.3995442264995, + 22.619443945865086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196626 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2716.0663646548214, + 483.9976204378528, + 22.619443945865086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2714.5663646548214, + 486.5956966492061, + 22.619443945865086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2713.0663646548214, + 489.1937728605594, + 22.619443945865086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2711.5663646548214, + 491.79184907191274, + 22.619443945865086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2710.0663646548214, + 494.38992528326605, + 22.619443945865086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2708.5663646548214, + 496.98800149461937, + 22.619443945865086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2707.0663646548214, + 499.5860777059727, + 22.619443945865086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2705.5663646548214, + 502.184153917326, + 22.619443945865086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2704.0663646548214, + 504.7822301286793, + 22.619443945865086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2702.5663646548214, + 507.38030634003263, + 22.619443945865086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2701.0663646548214, + 509.97838255138595, + 22.619443945865086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2699.5663646548214, + 512.5764587627393, + 22.619443945865086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2698.0663646548214, + 515.1745349740927, + 22.619443945865086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2696.5663646548214, + 517.7726111854461, + 22.619443945865086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2695.0663646548214, + 520.3706873967994, + 22.619443945865086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2693.5663646548214, + 522.9687636081528, + 22.619443945865086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2692.0663646548214, + 525.5668398195062, + 22.619443945865086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2690.5663646548214, + 528.1649160308596, + 22.619443945865086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2689.0663646548214, + 530.7629922422129, + 22.619443945865086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2687.5663646548214, + 533.3610684535663, + 22.619443945865086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2686.0663646548214, + 535.9591446649197, + 22.619443945865086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2684.5663646548214, + 538.557220876273, + 22.619443945865086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2683.0663646548214, + 541.1552970876264, + 22.619443945865086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2681.5663646548214, + 543.7533732989798, + 22.619443945865086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2680.0663646548214, + 546.3514495103332, + 22.619443945865086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2678.5663646548214, + 548.9495257216865, + 22.619443945865086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2677.0663646548214, + 551.5476019330399, + 22.619443945865086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -2675.5663646548214, + 554.1456781443933, + 22.619443945865086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -2674.0663646548214, + 556.7437543557467, + 22.619443945865086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -2672.5663646548214, + 559.3418305671, + 22.619443945865086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -2671.0663646548214, + 561.9399067784534, + 22.619443945865086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -2669.5663646548214, + 564.5379829898068, + 22.619443945865086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -2668.0663646548214, + 567.1360592011602, + 22.619443945865086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -2666.5663646548214, + 569.7341354125135, + 22.619443945865086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -2665.0663646548214, + 572.3322116238669, + 22.619443945865086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -2663.5663646548214, + 574.9302878352203, + 22.619443945865086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -2662.0663646548214, + 577.5283640465736, + 22.619443945865086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -2660.5663646548214, + 580.126440257927, + 22.619443945865086 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2644.0, + 608.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_21-3-43_218474917/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_21-3-43_218474917/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..61944cad3fe6c5deb4235cd264a2d90a33b6e55c --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_21-3-43_218474917/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3726.109429468305, + 1483.0413211003179, + 37.58367223786219 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3726.109429468305, + 1486.0413211003179, + 37.58367223786219 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3726.109429468305, + 1489.0413211003179, + 37.58367223786219 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3726.109429468305, + 1492.0413211003179, + 37.58367223786219 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3726.109429468305, + 1495.0413211003179, + 37.58367223786219 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3726.109429468305, + 1498.0413211003179, + 37.58367223786219 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3726.109429468305, + 1501.0413211003179, + 37.58367223786219 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3726.109429468305, + 1504.0413211003179, + 37.58367223786219 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 3726.109429468305, + 1507.0413211003179, + 37.58367223786219 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 3726.109429468305, + 1510.0413211003179, + 37.58367223786219 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 3726.109429468305, + 1513.0413211003179, + 37.58367223786219 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 3726.109429468305, + 1516.0413211003179, + 37.58367223786219 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 3726.109429468305, + 1519.0413211003179, + 37.58367223786219 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 3726.109429468305, + 1522.0413211003179, + 37.58367223786219 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 3726.109429468305, + 1525.0413211003179, + 37.58367223786219 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 3726.109429468305, + 1528.0413211003179, + 37.58367223786219 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 3726.109429468305, + 1531.0413211003179, + 37.58367223786219 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 3726.109429468305, + 1534.0413211003179, + 37.58367223786219 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 3726.109429468305, + 1537.0413211003179, + 37.58367223786219 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 3726.109429468305, + 1540.0413211003179, + 37.58367223786219 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 3726.109429468305, + 1543.0413211003179, + 37.58367223786219 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 3726.109429468305, + 1546.0413211003179, + 37.58367223786219 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 3726.109429468305, + 1549.0413211003179, + 37.58367223786219 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 3726.109429468305, + 1552.0413211003179, + 37.58367223786219 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 3726.109429468305, + 1555.0413211003179, + 37.58367223786219 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 3726.109429468305, + 1558.0413211003179, + 37.58367223786219 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 3726.109429468305, + 1561.0413211003179, + 37.58367223786219 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 3726.109429468305, + 1564.0413211003179, + 37.58367223786219 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 3726.109429468305, + 1567.0413211003179, + 37.58367223786219 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 3726.109429468305, + 1570.0413211003179, + 37.58367223786219 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 3726.109429468305, + 1573.0413211003179, + 37.58367223786219 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 3726.109429468305, + 1576.0413211003179, + 37.58367223786219 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 3726.109429468305, + 1579.0413211003179, + 37.58367223786219 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 3726.109429468305, + 1582.0413211003179, + 37.58367223786219 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 3726.109429468305, + 1585.0413211003179, + 37.58367223786219 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 3726.109429468305, + 1585.0413211003179, + 37.58367223786219 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 3724.609429468305, + 1587.6393973116712, + 37.58367223786219 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 3723.109429468305, + 1590.2374735230246, + 37.58367223786219 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 3721.609429468305, + 1592.835549734378, + 37.58367223786219 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 3720.109429468305, + 1595.4336259457314, + 37.58367223786219 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 3718.609429468305, + 1598.0317021570847, + 37.58367223786219 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 3717.109429468305, + 1600.629778368438, + 37.58367223786219 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 3715.609429468305, + 1603.2278545797915, + 37.58367223786219 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 3714.109429468305, + 1605.8259307911449, + 37.58367223786219 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 3712.609429468305, + 1608.4240070024982, + 37.58367223786219 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 3712.609429468305, + 1608.4240070024982, + 37.58367223786219 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 3712.609429468305, + 1611.4240070024982, + 37.58367223786219 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 3712.609429468305, + 1614.4240070024982, + 37.58367223786219 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 3712.609429468305, + 1617.4240070024982, + 37.58367223786219 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3708.0, + 1644.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_21-32-30_1622197219/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_21-32-30_1622197219/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d71caf3ed0f5b2e91683df95df7d71090e4a0954 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_21-32-30_1622197219/pose.jsonl @@ -0,0 +1,795 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2809.3321418027904, + -1849.1763927366121, + 32.932036650505154 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2811.9302180141435, + -1850.6763927366121, + 32.932036650505154 + ], + "type": "turn left", + "value": 30, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2811.9302180141435, + -1850.6763927366121, + 32.932036650505154 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931673 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2811.9302180141435, + -1850.6763927366121, + 32.932036650505154 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948684 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2811.9302180141435, + -1853.6763927366121, + 32.932036650505154 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2811.9302180141435, + -1856.6763927366121, + 32.932036650505154 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2811.9302180141435, + -1859.6763927366121, + 32.932036650505154 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2811.9302180141435, + -1862.6763927366121, + 32.932036650505154 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2811.9302180141435, + -1865.6763927366121, + 32.932036650505154 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2811.9302180141435, + -1868.6763927366121, + 32.932036650505154 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2811.9302180141435, + -1871.6763927366121, + 32.932036650505154 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2811.9302180141435, + -1874.6763927366121, + 32.932036650505154 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2811.9302180141435, + -1877.6763927366121, + 32.932036650505154 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2811.9302180141435, + -1880.6763927366121, + 32.932036650505154 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2811.9302180141435, + -1883.6763927366121, + 32.932036650505154 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2811.9302180141435, + -1886.6763927366121, + 32.932036650505154 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2811.9302180141435, + -1889.6763927366121, + 32.932036650505154 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2811.9302180141435, + -1892.6763927366121, + 32.932036650505154 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2811.9302180141435, + -1895.6763927366121, + 32.932036650505154 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2811.9302180141435, + -1898.6763927366121, + 32.932036650505154 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2811.9302180141435, + -1898.6763927366121, + 32.932036650505154 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2811.9302180141435, + -1898.6763927366121, + 32.932036650505154 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2814.5282942254967, + -1900.1763927366121, + 32.932036650505154 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2817.12637043685, + -1901.6763927366121, + 32.932036650505154 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2819.724446648203, + -1903.1763927366121, + 32.932036650505154 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2822.322522859556, + -1904.6763927366121, + 32.932036650505154 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2824.9205990709092, + -1906.1763927366121, + 32.932036650505154 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2827.5186752822624, + -1907.6763927366121, + 32.932036650505154 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2830.1167514936155, + -1909.1763927366121, + 32.932036650505154 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2832.7148277049687, + -1910.6763927366121, + 32.932036650505154 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2835.312903916322, + -1912.1763927366121, + 32.932036650505154 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2837.910980127675, + -1913.6763927366121, + 32.932036650505154 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2840.509056339028, + -1915.1763927366121, + 32.932036650505154 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2843.1071325503813, + -1916.6763927366121, + 32.932036650505154 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2845.7052087617344, + -1918.1763927366121, + 32.932036650505154 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -2848.3032849730876, + -1919.6763927366121, + 32.932036650505154 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -2850.9013611844407, + -1921.1763927366121, + 32.932036650505154 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -2853.499437395794, + -1922.6763927366121, + 32.932036650505154 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -2856.097513607147, + -1924.1763927366121, + 32.932036650505154 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -2858.6955898185, + -1925.6763927366121, + 32.932036650505154 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -2861.2936660298533, + -1927.1763927366121, + 32.932036650505154 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -2863.8917422412064, + -1928.6763927366121, + 32.932036650505154 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -2866.4898184525596, + -1930.1763927366121, + 32.932036650505154 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -2869.0878946639127, + -1931.6763927366121, + 32.932036650505154 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -2871.685970875266, + -1933.1763927366121, + 32.932036650505154 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -2874.284047086619, + -1934.6763927366121, + 32.932036650505154 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -2876.882123297972, + -1936.1763927366121, + 32.932036650505154 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -2879.4801995093253, + -1937.6763927366121, + 32.932036650505154 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -2879.4801995093253, + -1937.6763927366121, + 32.932036650505154 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535897647 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -2882.4801995093253, + -1937.6763927366121, + 32.932036650505154 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -2885.4801995093253, + -1937.6763927366121, + 32.932036650505154 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -2888.4801995093253, + -1937.6763927366121, + 32.932036650505154 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -2891.4801995093253, + -1937.6763927366121, + 32.932036650505154 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -2894.4801995093253, + -1937.6763927366121, + 32.932036650505154 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -2897.4801995093253, + -1937.6763927366121, + 32.932036650505154 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -2900.4801995093253, + -1937.6763927366121, + 32.932036650505154 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -2903.4801995093253, + -1937.6763927366121, + 32.932036650505154 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -2906.4801995093253, + -1937.6763927366121, + 32.932036650505154 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -2909.4801995093253, + -1937.6763927366121, + 32.932036650505154 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -2912.4801995093253, + -1937.6763927366121, + 32.932036650505154 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2932.0, + -1952.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_21-33-1_175821956/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_21-33-1_175821956/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a6d9f76425a7c9593c9f9c4b7373ed232f586448 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_21-33-1_175821956/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2721.3590952826285, + 1089.9179837130207, + 19.937834334824206 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2718.7610190712753, + 1091.4179837130207, + 19.937834334824206 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2716.162942859922, + 1092.9179837130207, + 19.937834334824206 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2713.564866648569, + 1094.4179837130207, + 19.937834334824206 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2710.966790437216, + 1095.9179837130207, + 19.937834334824206 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2708.3687142258627, + 1097.4179837130207, + 19.937834334824206 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2705.7706380145096, + 1098.9179837130207, + 19.937834334824206 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2703.1725618031564, + 1100.4179837130207, + 19.937834334824206 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2700.5744855918033, + 1101.9179837130207, + 19.937834334824206 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 2697.97640938045, + 1103.4179837130207, + 19.937834334824206 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2695.378333169097, + 1104.9179837130207, + 19.937834334824206 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2692.780256957744, + 1106.4179837130207, + 19.937834334824206 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 2690.1821807463907, + 1107.9179837130207, + 19.937834334824206 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 2687.5841045350376, + 1109.4179837130207, + 19.937834334824206 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 2684.9860283236844, + 1110.9179837130207, + 19.937834334824206 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 2682.3879521123313, + 1112.4179837130207, + 19.937834334824206 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 2679.789875900978, + 1113.9179837130207, + 19.937834334824206 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 2677.191799689625, + 1115.4179837130207, + 19.937834334824206 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 2674.593723478272, + 1116.9179837130207, + 19.937834334824206 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 2671.9956472669187, + 1118.4179837130207, + 19.937834334824206 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 2669.3975710555655, + 1119.9179837130207, + 19.937834334824206 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 2666.7994948442124, + 1121.4179837130207, + 19.937834334824206 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 2664.2014186328593, + 1122.9179837130207, + 19.937834334824206 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 2661.603342421506, + 1124.4179837130207, + 19.937834334824206 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 2659.005266210153, + 1125.9179837130207, + 19.937834334824206 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 2656.4071899988, + 1127.4179837130207, + 19.937834334824206 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 2653.8091137874467, + 1128.9179837130207, + 19.937834334824206 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 2651.2110375760935, + 1130.4179837130207, + 19.937834334824206 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 2648.6129613647404, + 1131.9179837130207, + 19.937834334824206 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 2646.0148851533872, + 1133.4179837130207, + 19.937834334824206 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 2643.416808942034, + 1134.9179837130207, + 19.937834334824206 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 2640.818732730681, + 1136.4179837130207, + 19.937834334824206 + ], + "type": "turn right", + "value": 30, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 2640.818732730681, + 1136.4179837130207, + 19.937834334824206 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931673 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 2639.318732730681, + 1139.016059924374, + 19.937834334824206 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 2637.818732730681, + 1141.6141361357274, + 19.937834334824206 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 2636.318732730681, + 1144.2122123470808, + 19.937834334824206 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 2634.818732730681, + 1146.8102885584342, + 19.937834334824206 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 2633.318732730681, + 1149.4083647697876, + 19.937834334824206 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 2631.818732730681, + 1152.006440981141, + 19.937834334824206 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 2630.318732730681, + 1154.6045171924943, + 19.937834334824206 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 2628.818732730681, + 1157.2025934038477, + 19.937834334824206 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 2627.318732730681, + 1159.800669615201, + 19.937834334824206 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 2625.818732730681, + 1162.3987458265544, + 19.937834334824206 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 2624.318732730681, + 1164.9968220379078, + 19.937834334824206 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 2622.818732730681, + 1167.5948982492612, + 19.937834334824206 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 2621.318732730681, + 1170.1929744606146, + 19.937834334824206 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 2621.318732730681, + 1170.1929744606146, + 19.937834334824206 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 2618.720656519328, + 1171.6929744606146, + 19.937834334824206 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 2616.1225803079747, + 1173.1929744606146, + 19.937834334824206 + ], + "type": "stop", + "value": 0, + "yaw": 2.617993877991466 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2588.0, + 1196.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_21-33-53_1810998055/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_21-33-53_1810998055/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ec2d465a325eebad72216b0ceffd79251564a3c3 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_21-33-53_1810998055/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2732.5954754551526, + -2662.524905142706, + 30.56618572163971 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2734.0954754551526, + -2665.122981354059, + 30.56618572163971 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2734.0954754551526, + -2665.122981354059, + 30.56618572163971 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982706 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2736.6935516665058, + -2666.622981354059, + 30.56618572163971 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2739.291627877859, + -2668.122981354059, + 30.56618572163971 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2739.291627877859, + -2668.122981354059, + 30.56618572163971 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196626 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2740.791627877859, + -2670.721057565412, + 30.56618572163971 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2742.291627877859, + -2673.3191337767653, + 30.56618572163971 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2743.791627877859, + -2675.9172099881184, + 30.56618572163971 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 2745.291627877859, + -2678.5152861994716, + 30.56618572163971 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2746.791627877859, + -2681.1133624108247, + 30.56618572163971 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2748.291627877859, + -2683.711438622178, + 30.56618572163971 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 2749.791627877859, + -2686.309514833531, + 30.56618572163971 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 2751.291627877859, + -2688.907591044884, + 30.56618572163971 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 2752.791627877859, + -2691.5056672562373, + 30.56618572163971 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 2752.791627877859, + -2691.5056672562373, + 30.56618572163971 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948681 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 2752.791627877859, + -2694.5056672562373, + 30.56618572163971 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 2752.791627877859, + -2697.5056672562373, + 30.56618572163971 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 2752.791627877859, + -2700.5056672562373, + 30.56618572163971 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 2752.791627877859, + -2703.5056672562373, + 30.56618572163971 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 2752.791627877859, + -2706.5056672562373, + 30.56618572163971 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 2752.791627877859, + -2709.5056672562373, + 30.56618572163971 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 2752.791627877859, + -2712.5056672562373, + 30.56618572163971 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 2752.791627877859, + -2715.5056672562373, + 30.56618572163971 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 2752.791627877859, + -2718.5056672562373, + 30.56618572163971 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 2752.791627877859, + -2721.5056672562373, + 30.56618572163971 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 2752.791627877859, + -2724.5056672562373, + 30.56618572163971 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 2752.791627877859, + -2727.5056672562373, + 30.56618572163971 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 2752.791627877859, + -2730.5056672562373, + 30.56618572163971 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 2752.791627877859, + -2733.5056672562373, + 30.56618572163971 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 2752.791627877859, + -2736.5056672562373, + 30.56618572163971 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 2752.791627877859, + -2739.5056672562373, + 30.56618572163971 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 2752.791627877859, + -2742.5056672562373, + 30.56618572163971 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 2752.791627877859, + -2745.5056672562373, + 30.56618572163971 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 2752.791627877859, + -2748.5056672562373, + 30.56618572163971 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 2752.791627877859, + -2751.5056672562373, + 30.56618572163971 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 2752.791627877859, + -2754.5056672562373, + 30.56618572163971 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 2752.791627877859, + -2757.5056672562373, + 30.56618572163971 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 2752.791627877859, + -2760.5056672562373, + 30.56618572163971 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 2752.791627877859, + -2763.5056672562373, + 30.56618572163971 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 2752.791627877859, + -2766.5056672562373, + 30.56618572163971 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 2752.791627877859, + -2769.5056672562373, + 30.56618572163971 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 2752.791627877859, + -2772.5056672562373, + 30.56618572163971 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 2752.791627877859, + -2772.5056672562373, + 30.56618572163971 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 2754.291627877859, + -2775.1037434675904, + 30.56618572163971 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2764.0, + -2820.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_21-36-8_1625315128/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_21-36-8_1625315128/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..96ca12227ae98adaac5e8d2713ed799ff8ab16f0 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_21-36-8_1625315128/pose.jsonl @@ -0,0 +1,548 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -438.3980729298481, + -2286.9152057888746, + 31.797067681613303 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -441.3980729298481, + -2286.9152057888746, + 31.797067681613303 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -444.3980729298481, + -2286.9152057888746, + 31.797067681613303 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -447.3980729298481, + -2286.9152057888746, + 31.797067681613303 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -450.3980729298481, + -2286.9152057888746, + 31.797067681613303 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -453.3980729298481, + -2286.9152057888746, + 31.797067681613303 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -456.3980729298481, + -2286.9152057888746, + 31.797067681613303 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -459.3980729298481, + -2286.9152057888746, + 31.797067681613303 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -462.3980729298481, + -2286.9152057888746, + 31.797067681613303 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -465.3980729298481, + -2286.9152057888746, + 31.797067681613303 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -468.3980729298481, + -2286.9152057888746, + 31.797067681613303 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -471.3980729298481, + -2286.9152057888746, + 31.797067681613303 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -474.3980729298481, + -2286.9152057888746, + 31.797067681613303 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -477.3980729298481, + -2286.9152057888746, + 31.797067681613303 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -480.3980729298481, + -2286.9152057888746, + 31.797067681613303 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -483.3980729298481, + -2286.9152057888746, + 31.797067681613303 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -486.3980729298481, + -2286.9152057888746, + 31.797067681613303 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -489.3980729298481, + -2286.9152057888746, + 31.797067681613303 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -492.3980729298481, + -2286.9152057888746, + 31.797067681613303 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -495.3980729298481, + -2286.9152057888746, + 31.797067681613303 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -498.3980729298481, + -2286.9152057888746, + 31.797067681613303 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -501.3980729298481, + -2286.9152057888746, + 31.797067681613303 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -504.3980729298481, + -2286.9152057888746, + 31.797067681613303 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -507.3980729298481, + -2286.9152057888746, + 31.797067681613303 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -510.3980729298481, + -2286.9152057888746, + 31.797067681613303 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -513.3980729298481, + -2286.9152057888746, + 31.797067681613303 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -516.3980729298481, + -2286.9152057888746, + 31.797067681613303 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -516.3980729298481, + -2286.9152057888746, + 31.797067681613303 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -518.9961491412014, + -2285.4152057888746, + 31.797067681613303 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -521.5942253525548, + -2283.9152057888746, + 31.797067681613303 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -524.1923015639081, + -2282.4152057888746, + 31.797067681613303 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -526.7903777752615, + -2280.9152057888746, + 31.797067681613303 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -529.3884539866149, + -2279.4152057888746, + 31.797067681613303 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -531.9865301979682, + -2277.9152057888746, + 31.797067681613303 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -534.5846064093216, + -2276.4152057888746, + 31.797067681613303 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -537.182682620675, + -2274.9152057888746, + 31.797067681613303 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -539.7807588320284, + -2273.4152057888746, + 31.797067681613303 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -542.3788350433817, + -2271.9152057888746, + 31.797067681613303 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -544.9769112547351, + -2270.4152057888746, + 31.797067681613303 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -547.5749874660885, + -2268.9152057888746, + 31.797067681613303 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -550.1730636774419, + -2267.4152057888746, + 31.797067681613303 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -592.0, + -2264.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_21-38-50_1401808472/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_21-38-50_1401808472/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d4c2d3ee249697e204b51898841fbd0abdf85a07 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_21-38-50_1401808472/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2232.5860598782624, + -365.2108787631521, + 36.29985509309067 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2231.0860598782624, + -362.6128025517988, + 36.29985509309067 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2229.5860598782624, + -360.01472634044546, + 36.29985509309067 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2228.0860598782624, + -357.41665012909215, + 36.29985509309067 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2226.5860598782624, + -354.81857391773883, + 36.29985509309067 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2225.0860598782624, + -352.2204977063855, + 36.29985509309067 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2223.5860598782624, + -349.6224214950322, + 36.29985509309067 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2222.0860598782624, + -347.0243452836789, + 36.29985509309067 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2220.5860598782624, + -344.42626907232557, + 36.29985509309067 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2219.0860598782624, + -341.82819286097225, + 36.29985509309067 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2217.5860598782624, + -339.23011664961894, + 36.29985509309067 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2216.0860598782624, + -336.6320404382656, + 36.29985509309067 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2214.5860598782624, + -334.0339642269123, + 36.29985509309067 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2213.0860598782624, + -331.435888015559, + 36.29985509309067 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2211.5860598782624, + -328.83781180420567, + 36.29985509309067 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2210.0860598782624, + -326.23973559285236, + 36.29985509309067 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2208.5860598782624, + -323.64165938149904, + 36.29985509309067 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2207.0860598782624, + -321.0435831701457, + 36.29985509309067 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2205.5860598782624, + -318.4455069587924, + 36.29985509309067 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2204.0860598782624, + -315.8474307474391, + 36.29985509309067 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2202.5860598782624, + -313.2493545360858, + 36.29985509309067 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2201.0860598782624, + -310.65127832473246, + 36.29985509309067 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2199.5860598782624, + -308.05320211337914, + 36.29985509309067 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2198.0860598782624, + -305.4551259020258, + 36.29985509309067 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2196.5860598782624, + -302.8570496906725, + 36.29985509309067 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2195.0860598782624, + -300.2589734793192, + 36.29985509309067 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2193.5860598782624, + -297.6608972679659, + 36.29985509309067 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2192.0860598782624, + -295.06282105661256, + 36.29985509309067 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2190.5860598782624, + -292.46474484525925, + 36.29985509309067 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2189.0860598782624, + -289.86666863390593, + 36.29985509309067 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2187.5860598782624, + -287.2685924225526, + 36.29985509309067 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2186.0860598782624, + -284.6705162111993, + 36.29985509309067 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2184.5860598782624, + -282.072439999846, + 36.29985509309067 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2183.0860598782624, + -279.47436378849267, + 36.29985509309067 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2181.5860598782624, + -276.87628757713935, + 36.29985509309067 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -2180.0860598782624, + -274.27821136578604, + 36.29985509309067 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -2178.5860598782624, + -271.6801351544327, + 36.29985509309067 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -2177.0860598782624, + -269.0820589430794, + 36.29985509309067 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -2175.5860598782624, + -266.4839827317261, + 36.29985509309067 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -2174.0860598782624, + -263.88590652037277, + 36.29985509309067 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -2172.5860598782624, + -261.28783030901945, + 36.29985509309067 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -2171.0860598782624, + -258.68975409766614, + 36.29985509309067 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -2169.5860598782624, + -256.0916778863128, + 36.29985509309067 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -2168.0860598782624, + -253.4936016749595, + 36.29985509309067 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -2168.0860598782624, + -253.4936016749595, + 36.29985509309067 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -2168.0860598782624, + -250.4936016749595, + 36.29985509309067 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -2168.0860598782624, + -247.4936016749595, + 36.29985509309067 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -2168.0860598782624, + -244.4936016749595, + 36.29985509309067 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2156.0, + -220.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_21-39-20_1241027172/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_21-39-20_1241027172/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..94a29ede327790847580d41a72ab1fbffb6d6180 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_21-39-20_1241027172/pose.jsonl @@ -0,0 +1,756 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3591.1888999472553, + -666.463662170494, + 36.48314944441566 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3593.7869761586085, + -667.963662170494, + 36.48314944441566 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3596.3850523699616, + -669.463662170494, + 36.48314944441566 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3598.9831285813148, + -670.963662170494, + 36.48314944441566 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3601.581204792668, + -672.463662170494, + 36.48314944441566 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3604.179281004021, + -673.963662170494, + 36.48314944441566 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3606.777357215374, + -675.463662170494, + 36.48314944441566 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3609.3754334267273, + -676.963662170494, + 36.48314944441566 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 3611.9735096380805, + -678.463662170494, + 36.48314944441566 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 3614.5715858494336, + -679.963662170494, + 36.48314944441566 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 3617.169662060787, + -681.463662170494, + 36.48314944441566 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 3619.76773827214, + -682.963662170494, + 36.48314944441566 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 3622.365814483493, + -684.463662170494, + 36.48314944441566 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 3624.963890694846, + -685.963662170494, + 36.48314944441566 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 3627.5619669061994, + -687.463662170494, + 36.48314944441566 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 3630.1600431175525, + -688.963662170494, + 36.48314944441566 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 3632.7581193289057, + -690.463662170494, + 36.48314944441566 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 3635.356195540259, + -691.963662170494, + 36.48314944441566 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 3637.954271751612, + -693.463662170494, + 36.48314944441566 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 3640.552347962965, + -694.963662170494, + 36.48314944441566 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 3643.1504241743182, + -696.463662170494, + 36.48314944441566 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 3645.7485003856714, + -697.963662170494, + 36.48314944441566 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 3648.3465765970245, + -699.463662170494, + 36.48314944441566 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 3650.9446528083777, + -700.963662170494, + 36.48314944441566 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 3653.542729019731, + -702.463662170494, + 36.48314944441566 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 3656.140805231084, + -703.963662170494, + 36.48314944441566 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 3658.738881442437, + -705.463662170494, + 36.48314944441566 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 3661.3369576537903, + -706.963662170494, + 36.48314944441566 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 3663.9350338651434, + -708.463662170494, + 36.48314944441566 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 3666.5331100764965, + -709.963662170494, + 36.48314944441566 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 3669.1311862878497, + -711.463662170494, + 36.48314944441566 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 3671.729262499203, + -712.963662170494, + 36.48314944441566 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 3674.327338710556, + -714.463662170494, + 36.48314944441566 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 3676.925414921909, + -715.963662170494, + 36.48314944441566 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 3679.5234911332623, + -717.463662170494, + 36.48314944441566 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 3682.1215673446154, + -718.963662170494, + 36.48314944441566 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 3684.7196435559686, + -720.463662170494, + 36.48314944441566 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 3687.3177197673217, + -721.963662170494, + 36.48314944441566 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 3689.915795978675, + -723.463662170494, + 36.48314944441566 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 3692.513872190028, + -724.963662170494, + 36.48314944441566 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 3692.513872190028, + -724.963662170494, + 36.48314944441566 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196626 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 3694.013872190028, + -727.5617383818474, + 36.48314944441566 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 3695.513872190028, + -730.1598145932007, + 36.48314944441566 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 3697.013872190028, + -732.7578908045541, + 36.48314944441566 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 3698.513872190028, + -735.3559670159075, + 36.48314944441566 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 3700.013872190028, + -737.9540432272609, + 36.48314944441566 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 3701.513872190028, + -740.5521194386142, + 36.48314944441566 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 3703.013872190028, + -743.1501956499676, + 36.48314944441566 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 3704.513872190028, + -745.748271861321, + 36.48314944441566 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 3706.013872190028, + -748.3463480726743, + 36.48314944441566 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 3707.513872190028, + -750.9444242840277, + 36.48314944441566 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 3709.013872190028, + -753.5425004953811, + 36.48314944441566 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 3710.513872190028, + -756.1405767067345, + 36.48314944441566 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 3712.013872190028, + -758.7386529180878, + 36.48314944441566 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 3713.513872190028, + -761.3367291294412, + 36.48314944441566 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 3715.013872190028, + -763.9348053407946, + 36.48314944441566 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 3716.513872190028, + -766.532881552148, + 36.48314944441566 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3724.0, + -772.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_21-40-20_1008057661/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_21-40-20_1008057661/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b2941aaaba88ede9f503b69b0f031cf38486b720 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_21-40-20_1008057661/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4427.080334255475, + 1572.8843048994074, + 25.160767038587203 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4429.678410466828, + 1574.3843048994074, + 25.160767038587203 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4432.276486678181, + 1575.8843048994074, + 25.160767038587203 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4434.874562889534, + 1577.3843048994074, + 25.160767038587203 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4437.472639100887, + 1578.8843048994074, + 25.160767038587203 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4440.07071531224, + 1580.3843048994074, + 25.160767038587203 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4442.668791523593, + 1581.8843048994074, + 25.160767038587203 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4445.266867734947, + 1583.3843048994074, + 25.160767038587203 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4447.8649439463, + 1584.8843048994074, + 25.160767038587203 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4450.463020157653, + 1586.3843048994074, + 25.160767038587203 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4453.061096369006, + 1587.8843048994074, + 25.160767038587203 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4455.659172580359, + 1589.3843048994074, + 25.160767038587203 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4458.257248791712, + 1590.8843048994074, + 25.160767038587203 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4460.855325003065, + 1592.3843048994074, + 25.160767038587203 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4463.453401214419, + 1593.8843048994074, + 25.160767038587203 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4466.051477425772, + 1595.3843048994074, + 25.160767038587203 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 4468.649553637125, + 1596.8843048994074, + 25.160767038587203 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 4471.247629848478, + 1598.3843048994074, + 25.160767038587203 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 4473.845706059831, + 1599.8843048994074, + 25.160767038587203 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 4476.443782271184, + 1601.3843048994074, + 25.160767038587203 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 4479.0418584825375, + 1602.8843048994074, + 25.160767038587203 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 4481.639934693891, + 1604.3843048994074, + 25.160767038587203 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 4484.238010905244, + 1605.8843048994074, + 25.160767038587203 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 4486.836087116597, + 1607.3843048994074, + 25.160767038587203 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 4489.43416332795, + 1608.8843048994074, + 25.160767038587203 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 4492.032239539303, + 1610.3843048994074, + 25.160767038587203 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 4494.630315750656, + 1611.8843048994074, + 25.160767038587203 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 4497.2283919620095, + 1613.3843048994074, + 25.160767038587203 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 4499.826468173363, + 1614.8843048994074, + 25.160767038587203 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 4502.424544384716, + 1616.3843048994074, + 25.160767038587203 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 4505.022620596069, + 1617.8843048994074, + 25.160767038587203 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 4507.620696807422, + 1619.3843048994074, + 25.160767038587203 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 4510.218773018775, + 1620.8843048994074, + 25.160767038587203 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 4512.816849230128, + 1622.3843048994074, + 25.160767038587203 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 4515.4149254414815, + 1623.8843048994074, + 25.160767038587203 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 4515.4149254414815, + 1623.8843048994074, + 25.160767038587203 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196626 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 4516.9149254414815, + 1626.4823811107608, + 25.160767038587203 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 4518.4149254414815, + 1629.0804573221142, + 25.160767038587203 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 4519.9149254414815, + 1631.6785335334675, + 25.160767038587203 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 4521.4149254414815, + 1634.276609744821, + 25.160767038587203 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 4522.9149254414815, + 1636.8746859561743, + 25.160767038587203 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 4524.4149254414815, + 1639.4727621675277, + 25.160767038587203 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 4525.9149254414815, + 1642.070838378881, + 25.160767038587203 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 4527.4149254414815, + 1644.6689145902344, + 25.160767038587203 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4556.0, + 1664.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_21-5-45_1314586528/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_21-5-45_1314586528/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2628801f2aeb3dc26802b87b334a97eeaf9bf6e3 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_21-5-45_1314586528/pose.jsonl @@ -0,0 +1,184 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1146.6813834444492, + 2472.415158080801, + 29.08539663869518 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1148.1813834444492, + 2475.0132342921543, + 29.08539663869518 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1149.6813834444492, + 2477.6113105035074, + 29.08539663869518 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1151.1813834444492, + 2480.2093867148606, + 29.08539663869518 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1152.6813834444492, + 2482.8074629262137, + 29.08539663869518 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1154.1813834444492, + 2485.405539137567, + 29.08539663869518 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1155.6813834444492, + 2488.00361534892, + 29.08539663869518 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1157.1813834444492, + 2490.601691560273, + 29.08539663869518 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1158.6813834444492, + 2493.1997677716263, + 29.08539663869518 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1158.6813834444492, + 2493.1997677716263, + 29.08539663869518 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915224 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1161.2794596558026, + 2494.6997677716263, + 29.08539663869518 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1163.877535867156, + 2496.1997677716263, + 29.08539663869518 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1166.4756120785094, + 2497.6997677716263, + 29.08539663869518 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1252.0, + 2604.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_21-50-21_23637094/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_21-50-21_23637094/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..742edaeda562dd4112931d92e7ec14522be9c5da --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_21-50-21_23637094/pose.jsonl @@ -0,0 +1,756 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2247.764255609536, + -2892.413029066551, + 28.859464173552745 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2244.764255609536, + -2892.413029066551, + 28.859464173552745 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2241.764255609536, + -2892.413029066551, + 28.859464173552745 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2238.764255609536, + -2892.413029066551, + 28.859464173552745 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2235.764255609536, + -2892.413029066551, + 28.859464173552745 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2232.764255609536, + -2892.413029066551, + 28.859464173552745 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2229.764255609536, + -2892.413029066551, + 28.859464173552745 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2226.764255609536, + -2892.413029066551, + 28.859464173552745 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2223.764255609536, + -2892.413029066551, + 28.859464173552745 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2220.764255609536, + -2892.413029066551, + 28.859464173552745 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2217.764255609536, + -2892.413029066551, + 28.859464173552745 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2214.764255609536, + -2892.413029066551, + 28.859464173552745 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2211.764255609536, + -2892.413029066551, + 28.859464173552745 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2208.764255609536, + -2892.413029066551, + 28.859464173552745 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2205.764255609536, + -2892.413029066551, + 28.859464173552745 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2202.764255609536, + -2892.413029066551, + 28.859464173552745 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2199.764255609536, + -2892.413029066551, + 28.859464173552745 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2196.764255609536, + -2892.413029066551, + 28.859464173552745 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2193.764255609536, + -2892.413029066551, + 28.859464173552745 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2190.764255609536, + -2892.413029066551, + 28.859464173552745 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2187.764255609536, + -2892.413029066551, + 28.859464173552745 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2187.764255609536, + -2892.413029066551, + 28.859464173552745 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2185.166179398183, + -2893.913029066551, + 28.859464173552745 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2182.56810318683, + -2895.413029066551, + 28.859464173552745 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2179.9700269754767, + -2896.913029066551, + 28.859464173552745 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2177.3719507641235, + -2898.413029066551, + 28.859464173552745 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2174.7738745527704, + -2899.913029066551, + 28.859464173552745 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2172.1757983414172, + -2901.413029066551, + 28.859464173552745 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2169.577722130064, + -2902.913029066551, + 28.859464173552745 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2166.979645918711, + -2904.413029066551, + 28.859464173552745 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2164.381569707358, + -2905.913029066551, + 28.859464173552745 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2161.7834934960047, + -2907.413029066551, + 28.859464173552745 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2159.1854172846515, + -2908.913029066551, + 28.859464173552745 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2156.5873410732984, + -2910.413029066551, + 28.859464173552745 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2153.9892648619452, + -2911.913029066551, + 28.859464173552745 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -2151.391188650592, + -2913.413029066551, + 28.859464173552745 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -2148.793112439239, + -2914.913029066551, + 28.859464173552745 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -2146.195036227886, + -2916.413029066551, + 28.859464173552745 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -2143.5969600165326, + -2917.913029066551, + 28.859464173552745 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -2140.9988838051795, + -2919.413029066551, + 28.859464173552745 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -2138.4008075938264, + -2920.913029066551, + 28.859464173552745 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -2135.802731382473, + -2922.413029066551, + 28.859464173552745 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -2133.20465517112, + -2923.913029066551, + 28.859464173552745 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -2130.606578959767, + -2925.413029066551, + 28.859464173552745 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -2128.008502748414, + -2926.913029066551, + 28.859464173552745 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -2125.4104265370606, + -2928.413029066551, + 28.859464173552745 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -2122.8123503257075, + -2929.913029066551, + 28.859464173552745 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -2120.2142741143543, + -2931.413029066551, + 28.859464173552745 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -2117.616197903001, + -2932.913029066551, + 28.859464173552745 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -2115.018121691648, + -2934.413029066551, + 28.859464173552745 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -2112.420045480295, + -2935.913029066551, + 28.859464173552745 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -2109.8219692689418, + -2937.413029066551, + 28.859464173552745 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -2107.2238930575886, + -2938.913029066551, + 28.859464173552745 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -2104.6258168462355, + -2940.413029066551, + 28.859464173552745 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -2104.6258168462355, + -2940.413029066551, + 28.859464173552745 + ], + "type": "go straight", + "value": 3, + "yaw": -2.842170943040401e-14 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -2101.6258168462355, + -2940.413029066551, + 28.859464173552745 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -2098.6258168462355, + -2940.413029066551, + 28.859464173552745 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2088.0, + -2944.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_21-55-23_1645803002/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_21-55-23_1645803002/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..83755a1a7a4cd9b3065eb693997221f7ba4b3cd0 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_21-55-23_1645803002/pose.jsonl @@ -0,0 +1,574 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2512.086624539478, + -691.1175235667835, + 14.939330857111946 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2515.086624539478, + -691.1175235667835, + 14.939330857111946 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2518.086624539478, + -691.1175235667835, + 14.939330857111946 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2521.086624539478, + -691.1175235667835, + 14.939330857111946 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2524.086624539478, + -691.1175235667835, + 14.939330857111946 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2527.086624539478, + -691.1175235667835, + 14.939330857111946 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2530.086624539478, + -691.1175235667835, + 14.939330857111946 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2533.086624539478, + -691.1175235667835, + 14.939330857111946 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2536.086624539478, + -691.1175235667835, + 14.939330857111946 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2539.086624539478, + -691.1175235667835, + 14.939330857111946 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2542.086624539478, + -691.1175235667835, + 14.939330857111946 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2545.086624539478, + -691.1175235667835, + 14.939330857111946 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2548.086624539478, + -691.1175235667835, + 14.939330857111946 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2551.086624539478, + -691.1175235667835, + 14.939330857111946 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2554.086624539478, + -691.1175235667835, + 14.939330857111946 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2557.086624539478, + -691.1175235667835, + 14.939330857111946 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2560.086624539478, + -691.1175235667835, + 14.939330857111946 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2563.086624539478, + -691.1175235667835, + 14.939330857111946 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2566.086624539478, + -691.1175235667835, + 14.939330857111946 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2569.086624539478, + -691.1175235667835, + 14.939330857111946 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2572.086624539478, + -691.1175235667835, + 14.939330857111946 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2575.086624539478, + -691.1175235667835, + 14.939330857111946 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2578.086624539478, + -691.1175235667835, + 14.939330857111946 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2581.086624539478, + -691.1175235667835, + 14.939330857111946 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2584.086624539478, + -691.1175235667835, + 14.939330857111946 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2587.086624539478, + -691.1175235667835, + 14.939330857111946 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2590.086624539478, + -691.1175235667835, + 14.939330857111946 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2593.086624539478, + -691.1175235667835, + 14.939330857111946 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2596.086624539478, + -691.1175235667835, + 14.939330857111946 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2599.086624539478, + -691.1175235667835, + 14.939330857111946 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2602.086624539478, + -691.1175235667835, + 14.939330857111946 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2605.086624539478, + -691.1175235667835, + 14.939330857111946 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2608.086624539478, + -691.1175235667835, + 14.939330857111946 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2611.086624539478, + -691.1175235667835, + 14.939330857111946 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2614.086624539478, + -691.1175235667835, + 14.939330857111946 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -2617.086624539478, + -691.1175235667835, + 14.939330857111946 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -2620.086624539478, + -691.1175235667835, + 14.939330857111946 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -2623.086624539478, + -691.1175235667835, + 14.939330857111946 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -2626.086624539478, + -691.1175235667835, + 14.939330857111946 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -2629.086624539478, + -691.1175235667835, + 14.939330857111946 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -2632.086624539478, + -691.1175235667835, + 14.939330857111946 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -2635.086624539478, + -691.1175235667835, + 14.939330857111946 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -2638.086624539478, + -691.1175235667835, + 14.939330857111946 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2672.0, + -692.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_21-58-31_486363501/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_21-58-31_486363501/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dcc3ac4ec73ed15b9be289042d6fc0c6f6b319e1 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_21-58-31_486363501/pose.jsonl @@ -0,0 +1,483 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2510.202997244797, + -2915.501520028482, + 15.179544955101825 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2507.202997244797, + -2915.501520028482, + 15.179544955101825 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2504.202997244797, + -2915.501520028482, + 15.179544955101825 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2501.202997244797, + -2915.501520028482, + 15.179544955101825 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2498.202997244797, + -2915.501520028482, + 15.179544955101825 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2495.202997244797, + -2915.501520028482, + 15.179544955101825 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2492.202997244797, + -2915.501520028482, + 15.179544955101825 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2492.202997244797, + -2915.501520028482, + 15.179544955101825 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2489.604921033444, + -2917.001520028482, + 15.179544955101825 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2489.604921033444, + -2917.001520028482, + 15.179544955101825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196626 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2488.104921033444, + -2919.599596239835, + 15.179544955101825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2486.604921033444, + -2922.1976724511883, + 15.179544955101825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2485.104921033444, + -2924.7957486625414, + 15.179544955101825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2483.604921033444, + -2927.3938248738946, + 15.179544955101825 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2483.604921033444, + -2927.3938248738946, + 15.179544955101825 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982706 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2481.006844822091, + -2928.8938248738946, + 15.179544955101825 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2478.4087686107378, + -2930.3938248738946, + 15.179544955101825 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2475.8106923993846, + -2931.8938248738946, + 15.179544955101825 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2473.2126161880315, + -2933.3938248738946, + 15.179544955101825 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2470.6145399766783, + -2934.8938248738946, + 15.179544955101825 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2468.016463765325, + -2936.3938248738946, + 15.179544955101825 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2465.418387553972, + -2937.8938248738946, + 15.179544955101825 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2462.820311342619, + -2939.3938248738946, + 15.179544955101825 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2460.2222351312657, + -2940.8938248738946, + 15.179544955101825 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2457.6241589199126, + -2942.3938248738946, + 15.179544955101825 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2455.0260827085594, + -2943.8938248738946, + 15.179544955101825 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2452.4280064972063, + -2945.3938248738946, + 15.179544955101825 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2449.829930285853, + -2946.8938248738946, + 15.179544955101825 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2447.2318540745, + -2948.3938248738946, + 15.179544955101825 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2444.633777863147, + -2949.8938248738946, + 15.179544955101825 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2442.0357016517937, + -2951.3938248738946, + 15.179544955101825 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2439.4376254404406, + -2952.8938248738946, + 15.179544955101825 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2439.4376254404406, + -2952.8938248738946, + 15.179544955101825 + ], + "type": "go straight", + "value": 3, + "yaw": -2.842170943040401e-14 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2436.4376254404406, + -2952.8938248738946, + 15.179544955101825 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2433.4376254404406, + -2952.8938248738946, + 15.179544955101825 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -2430.4376254404406, + -2952.8938248738946, + 15.179544955101825 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2368.0, + -2984.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_21-59-38_1984483445/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_21-59-38_1984483445/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..826e46a5ecacbb6b516ac94720afb37c586a81c9 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_21-59-38_1984483445/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1711.115800045798, + -2467.062861107915, + 39.04515237925446 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1712.615800045798, + -2469.660937319268, + 39.04515237925446 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1714.115800045798, + -2472.2590135306214, + 39.04515237925446 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1715.615800045798, + -2474.8570897419745, + 39.04515237925446 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1717.115800045798, + -2477.4551659533277, + 39.04515237925446 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1718.615800045798, + -2480.053242164681, + 39.04515237925446 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1718.615800045798, + -2480.053242164681, + 39.04515237925446 + ], + "type": "go straight", + "value": 3, + "yaw": -1.570796326794925 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1718.615800045798, + -2483.053242164681, + 39.04515237925446 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1718.615800045798, + -2483.053242164681, + 39.04515237925446 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1720.115800045798, + -2485.651318376034, + 39.04515237925446 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1721.615800045798, + -2488.249394587387, + 39.04515237925446 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1723.115800045798, + -2490.8474707987402, + 39.04515237925446 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1724.615800045798, + -2493.4455470100934, + 39.04515237925446 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1726.115800045798, + -2496.0436232214465, + 39.04515237925446 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1727.615800045798, + -2498.6416994327997, + 39.04515237925446 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1729.115800045798, + -2501.239775644153, + 39.04515237925446 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1730.615800045798, + -2503.837851855506, + 39.04515237925446 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1732.115800045798, + -2506.435928066859, + 39.04515237925446 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1733.615800045798, + -2509.0340042782123, + 39.04515237925446 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1735.115800045798, + -2511.6320804895654, + 39.04515237925446 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1736.615800045798, + -2514.2301567009185, + 39.04515237925446 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1738.115800045798, + -2516.8282329122717, + 39.04515237925446 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1739.615800045798, + -2519.426309123625, + 39.04515237925446 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1741.115800045798, + -2522.024385334978, + 39.04515237925446 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1742.615800045798, + -2524.622461546331, + 39.04515237925446 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1744.115800045798, + -2527.2205377576843, + 39.04515237925446 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1745.615800045798, + -2529.8186139690374, + 39.04515237925446 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1747.115800045798, + -2532.4166901803906, + 39.04515237925446 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1748.615800045798, + -2535.0147663917437, + 39.04515237925446 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1750.115800045798, + -2537.612842603097, + 39.04515237925446 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1751.615800045798, + -2540.21091881445, + 39.04515237925446 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1753.115800045798, + -2542.808995025803, + 39.04515237925446 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1754.615800045798, + -2545.4070712371563, + 39.04515237925446 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1756.115800045798, + -2548.0051474485094, + 39.04515237925446 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1757.615800045798, + -2550.6032236598626, + 39.04515237925446 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1759.115800045798, + -2553.2012998712157, + 39.04515237925446 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1760.615800045798, + -2555.799376082569, + 39.04515237925446 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1762.115800045798, + -2558.397452293922, + 39.04515237925446 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1762.115800045798, + -2558.397452293922, + 39.04515237925446 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915224 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1764.7138762571515, + -2559.897452293922, + 39.04515237925446 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1767.3119524685048, + -2561.397452293922, + 39.04515237925446 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1769.9100286798582, + -2562.897452293922, + 39.04515237925446 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1772.5081048912116, + -2564.397452293922, + 39.04515237925446 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1775.106181102565, + -2565.897452293922, + 39.04515237925446 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1777.7042573139183, + -2567.397452293922, + 39.04515237925446 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1780.3023335252717, + -2568.897452293922, + 39.04515237925446 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1804.0, + -2600.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_21-8-15_1357242587/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_21-8-15_1357242587/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..847d2f1f6ca60267fe678f43be1f2ac201ba07b2 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_21-8-15_1357242587/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1094.7522755593288, + 72.60050057157241, + 21.238824957703557 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1096.2522755593288, + 70.0024243602191, + 21.238824957703557 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1097.7522755593288, + 67.40434814886578, + 21.238824957703557 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1099.2522755593288, + 64.80627193751246, + 21.238824957703557 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1100.7522755593288, + 62.20819572615915, + 21.238824957703557 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1102.2522755593288, + 59.61011951480583, + 21.238824957703557 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1103.7522755593288, + 57.012043303452515, + 21.238824957703557 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1105.2522755593288, + 54.4139670920992, + 21.238824957703557 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1106.7522755593288, + 51.81589088074588, + 21.238824957703557 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1108.2522755593288, + 49.21781466939257, + 21.238824957703557 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1109.7522755593288, + 46.61973845803925, + 21.238824957703557 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1111.2522755593288, + 44.021662246685935, + 21.238824957703557 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1112.7522755593288, + 41.42358603533262, + 21.238824957703557 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1114.2522755593288, + 38.8255098239793, + 21.238824957703557 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1115.7522755593288, + 36.22743361262599, + 21.238824957703557 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1117.2522755593288, + 33.62935740127267, + 21.238824957703557 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1118.7522755593288, + 31.031281189919355, + 21.238824957703557 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1120.2522755593288, + 28.43320497856604, + 21.238824957703557 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1121.7522755593288, + 25.835128767212723, + 21.238824957703557 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1123.2522755593288, + 23.237052555859407, + 21.238824957703557 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1124.7522755593288, + 20.63897634450609, + 21.238824957703557 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1126.2522755593288, + 18.040900133152775, + 21.238824957703557 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1127.7522755593288, + 15.442823921799459, + 21.238824957703557 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1129.2522755593288, + 12.844747710446143, + 21.238824957703557 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1130.7522755593288, + 10.246671499092827, + 21.238824957703557 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1132.2522755593288, + 7.648595287739511, + 21.238824957703557 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1133.7522755593288, + 5.050519076386195, + 21.238824957703557 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1135.2522755593288, + 2.4524428650328787, + 21.238824957703557 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1135.2522755593288, + 2.4524428650328787, + 21.238824957703557 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1135.2522755593288, + -0.5475571349671213, + 21.238824957703557 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1135.2522755593288, + -3.5475571349671213, + 21.238824957703557 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1135.2522755593288, + -6.547557134967121, + 21.238824957703557 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1135.2522755593288, + -9.547557134967121, + 21.238824957703557 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1135.2522755593288, + -12.547557134967121, + 21.238824957703557 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1135.2522755593288, + -15.547557134967121, + 21.238824957703557 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1135.2522755593288, + -18.54755713496712, + 21.238824957703557 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1135.2522755593288, + -21.54755713496712, + 21.238824957703557 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1135.2522755593288, + -24.54755713496712, + 21.238824957703557 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1135.2522755593288, + -27.54755713496712, + 21.238824957703557 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1135.2522755593288, + -30.54755713496712, + 21.238824957703557 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1135.2522755593288, + -33.54755713496712, + 21.238824957703557 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1135.2522755593288, + -36.54755713496712, + 21.238824957703557 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1135.2522755593288, + -39.54755713496712, + 21.238824957703557 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1135.2522755593288, + -42.54755713496712, + 21.238824957703557 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1135.2522755593288, + -45.54755713496712, + 21.238824957703557 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1135.2522755593288, + -48.54755713496712, + 21.238824957703557 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1135.2522755593288, + -51.54755713496712, + 21.238824957703557 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1135.2522755593288, + -54.54755713496712, + 21.238824957703557 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1135.2522755593288, + -57.54755713496712, + 21.238824957703557 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1135.2522755593288, + -60.54755713496712, + 21.238824957703557 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1135.2522755593288, + -63.54755713496712, + 21.238824957703557 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1135.2522755593288, + -66.54755713496712, + 21.238824957703557 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1135.2522755593288, + -69.54755713496712, + 21.238824957703557 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1135.2522755593288, + -72.54755713496712, + 21.238824957703557 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1135.2522755593288, + -75.54755713496712, + 21.238824957703557 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1140.0, + -88.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_21-8-47_1270551295/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_21-8-47_1270551295/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..eaab416a69b8c1840dcc0a0c59d0719b31a749aa --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_21-8-47_1270551295/pose.jsonl @@ -0,0 +1,444 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2642.351837290382, + 2437.5832541793798, + 37.49013828480129 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2644.949913501735, + 2439.0832541793798, + 37.49013828480129 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2647.547989713088, + 2440.5832541793798, + 37.49013828480129 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2650.1460659244412, + 2442.0832541793798, + 37.49013828480129 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2652.7441421357944, + 2443.5832541793798, + 37.49013828480129 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2655.3422183471475, + 2445.0832541793798, + 37.49013828480129 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2657.9402945585007, + 2446.5832541793798, + 37.49013828480129 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2660.538370769854, + 2448.0832541793798, + 37.49013828480129 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2663.136446981207, + 2449.5832541793798, + 37.49013828480129 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 2665.73452319256, + 2451.0832541793798, + 37.49013828480129 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2668.3325994039133, + 2452.5832541793798, + 37.49013828480129 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2670.9306756152664, + 2454.0832541793798, + 37.49013828480129 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 2673.5287518266196, + 2455.5832541793798, + 37.49013828480129 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 2676.1268280379727, + 2457.0832541793798, + 37.49013828480129 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 2678.724904249326, + 2458.5832541793798, + 37.49013828480129 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 2681.322980460679, + 2460.0832541793798, + 37.49013828480129 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 2683.921056672032, + 2461.5832541793798, + 37.49013828480129 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 2686.5191328833853, + 2463.0832541793798, + 37.49013828480129 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 2689.1172090947384, + 2464.5832541793798, + 37.49013828480129 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 2689.1172090947384, + 2464.5832541793798, + 37.49013828480129 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196626 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 2690.6172090947384, + 2467.181330390733, + 37.49013828480129 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 2692.1172090947384, + 2469.779406602086, + 37.49013828480129 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 2693.6172090947384, + 2472.377482813439, + 37.49013828480129 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 2695.1172090947384, + 2474.9755590247923, + 37.49013828480129 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 2696.6172090947384, + 2477.5736352361455, + 37.49013828480129 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 2698.1172090947384, + 2480.1717114474986, + 37.49013828480129 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 2699.6172090947384, + 2482.769787658852, + 37.49013828480129 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 2701.1172090947384, + 2485.367863870205, + 37.49013828480129 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 2702.6172090947384, + 2487.965940081558, + 37.49013828480129 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 2704.1172090947384, + 2490.564016292911, + 37.49013828480129 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 2705.6172090947384, + 2493.1620925042644, + 37.49013828480129 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 2707.1172090947384, + 2495.7601687156175, + 37.49013828480129 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 2708.6172090947384, + 2498.3582449269707, + 37.49013828480129 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965694 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2760.0, + 2544.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_22-11-25_282723354/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_22-11-25_282723354/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c1ea170c6ab574321f55a0bf617089f74facfb47 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_22-11-25_282723354/pose.jsonl @@ -0,0 +1,496 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3394.1692641968407, + 2084.4524283341957, + 29.312174190496474 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3392.6692641968407, + 2087.050504545549, + 29.312174190496474 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3391.1692641968407, + 2089.648580756902, + 29.312174190496474 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3389.6692641968407, + 2092.246656968255, + 29.312174190496474 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3388.1692641968407, + 2094.8447331796083, + 29.312174190496474 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3386.6692641968407, + 2097.4428093909614, + 29.312174190496474 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3385.1692641968407, + 2100.0408856023146, + 29.312174190496474 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3383.6692641968407, + 2102.6389618136677, + 29.312174190496474 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 3382.1692641968407, + 2105.237038025021, + 29.312174190496474 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 3380.6692641968407, + 2107.835114236374, + 29.312174190496474 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 3379.1692641968407, + 2110.433190447727, + 29.312174190496474 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 3377.6692641968407, + 2113.0312666590803, + 29.312174190496474 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 3376.1692641968407, + 2115.6293428704334, + 29.312174190496474 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 3374.6692641968407, + 2118.2274190817866, + 29.312174190496474 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 3373.1692641968407, + 2120.8254952931397, + 29.312174190496474 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 3371.6692641968407, + 2123.423571504493, + 29.312174190496474 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 3370.1692641968407, + 2126.021647715846, + 29.312174190496474 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 3368.6692641968407, + 2128.619723927199, + 29.312174190496474 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 3367.1692641968407, + 2131.2178001385523, + 29.312174190496474 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 3365.6692641968407, + 2133.8158763499055, + 29.312174190496474 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 3364.1692641968407, + 2136.4139525612586, + 29.312174190496474 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 3362.6692641968407, + 2139.0120287726118, + 29.312174190496474 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 3361.1692641968407, + 2141.610104983965, + 29.312174190496474 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 3359.6692641968407, + 2144.208181195318, + 29.312174190496474 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 3358.1692641968407, + 2146.806257406671, + 29.312174190496474 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 3356.6692641968407, + 2149.4043336180243, + 29.312174190496474 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 3355.1692641968407, + 2152.0024098293775, + 29.312174190496474 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 3353.6692641968407, + 2154.6004860407306, + 29.312174190496474 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 3352.1692641968407, + 2157.198562252084, + 29.312174190496474 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 3350.6692641968407, + 2159.796638463437, + 29.312174190496474 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 3349.1692641968407, + 2162.39471467479, + 29.312174190496474 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 3347.6692641968407, + 2164.992790886143, + 29.312174190496474 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 3346.1692641968407, + 2167.5908670974964, + 29.312174190496474 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 3346.1692641968407, + 2167.5908670974964, + 29.312174190496474 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915224 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 3343.5711879854875, + 2169.0908670974964, + 29.312174190496474 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 3340.9731117741344, + 2170.5908670974964, + 29.312174190496474 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 3338.3750355627812, + 2172.0908670974964, + 29.312174190496474 + ], + "type": "stop", + "value": 0, + "yaw": 2.617993877991466 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3304.0, + 2220.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_22-14-21_50365223/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_22-14-21_50365223/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4ea11265d09bb7f90caf58aab84abae10043a84f --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_22-14-21_50365223/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1498.237686399486, + -415.1222260038097, + 19.845136728462684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1501.237686399486, + -415.1222260038097, + 19.845136728462684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1504.237686399486, + -415.1222260038097, + 19.845136728462684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1507.237686399486, + -415.1222260038097, + 19.845136728462684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1510.237686399486, + -415.1222260038097, + 19.845136728462684 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1510.237686399486, + -415.1222260038097, + 19.845136728462684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1512.8357626108393, + -413.6222260038097, + 19.845136728462684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1515.4338388221927, + -412.1222260038097, + 19.845136728462684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1518.031915033546, + -410.6222260038097, + 19.845136728462684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1520.6299912448994, + -409.1222260038097, + 19.845136728462684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1523.2280674562528, + -407.6222260038097, + 19.845136728462684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1525.8261436676062, + -406.1222260038097, + 19.845136728462684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1528.4242198789595, + -404.6222260038097, + 19.845136728462684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1531.022296090313, + -403.1222260038097, + 19.845136728462684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1533.6203723016663, + -401.6222260038097, + 19.845136728462684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1536.2184485130197, + -400.1222260038097, + 19.845136728462684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1538.816524724373, + -398.6222260038097, + 19.845136728462684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1541.4146009357264, + -397.1222260038097, + 19.845136728462684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1544.0126771470798, + -395.6222260038097, + 19.845136728462684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1546.6107533584332, + -394.1222260038097, + 19.845136728462684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1549.2088295697865, + -392.6222260038097, + 19.845136728462684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1551.80690578114, + -391.1222260038097, + 19.845136728462684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1554.4049819924933, + -389.6222260038097, + 19.845136728462684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1557.0030582038466, + -388.1222260038097, + 19.845136728462684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1559.6011344152, + -386.6222260038097, + 19.845136728462684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1562.1992106265534, + -385.1222260038097, + 19.845136728462684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1564.7972868379068, + -383.6222260038097, + 19.845136728462684 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1564.7972868379068, + -383.6222260038097, + 19.845136728462684 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1567.7972868379068, + -383.6222260038097, + 19.845136728462684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1570.7972868379068, + -383.6222260038097, + 19.845136728462684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1573.7972868379068, + -383.6222260038097, + 19.845136728462684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1576.7972868379068, + -383.6222260038097, + 19.845136728462684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1579.7972868379068, + -383.6222260038097, + 19.845136728462684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1582.7972868379068, + -383.6222260038097, + 19.845136728462684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1585.7972868379068, + -383.6222260038097, + 19.845136728462684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1588.7972868379068, + -383.6222260038097, + 19.845136728462684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1591.7972868379068, + -383.6222260038097, + 19.845136728462684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1594.7972868379068, + -383.6222260038097, + 19.845136728462684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1597.7972868379068, + -383.6222260038097, + 19.845136728462684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1600.7972868379068, + -383.6222260038097, + 19.845136728462684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1603.7972868379068, + -383.6222260038097, + 19.845136728462684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1606.7972868379068, + -383.6222260038097, + 19.845136728462684 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1606.7972868379068, + -383.6222260038097, + 19.845136728462684 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1606.7972868379068, + -383.6222260038097, + 19.845136728462684 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1608.2972868379068, + -381.0241497924564, + 19.845136728462684 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1609.7972868379068, + -378.4260735811031, + 19.845136728462684 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1611.2972868379068, + -375.82799736974977, + 19.845136728462684 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1612.7972868379068, + -373.22992115839645, + 19.845136728462684 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1614.2972868379068, + -370.63184494704313, + 19.845136728462684 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1615.7972868379068, + -368.0337687356898, + 19.845136728462684 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1617.2972868379068, + -365.4356925243365, + 19.845136728462684 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1618.7972868379068, + -362.8376163129832, + 19.845136728462684 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1618.7972868379068, + -362.8376163129832, + 19.845136728462684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1621.3953630492601, + -361.3376163129832, + 19.845136728462684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1623.9934392606135, + -359.8376163129832, + 19.845136728462684 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1656.0, + -344.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_22-16-33_2120131589/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_22-16-33_2120131589/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..77d1c1f8d0d0daed1b541b5f58ca56f1a8aa3da9 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_22-16-33_2120131589/pose.jsonl @@ -0,0 +1,366 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1816.410102087969, + 2432.3223971148605, + 35.107889027182615 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1817.910102087969, + 2434.9204733262136, + 35.107889027182615 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1819.410102087969, + 2437.5185495375667, + 35.107889027182615 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1820.910102087969, + 2440.11662574892, + 35.107889027182615 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1822.410102087969, + 2442.714701960273, + 35.107889027182615 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1823.910102087969, + 2445.312778171626, + 35.107889027182615 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1825.410102087969, + 2447.9108543829793, + 35.107889027182615 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1826.910102087969, + 2450.5089305943325, + 35.107889027182615 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1828.410102087969, + 2453.1070068056856, + 35.107889027182615 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1829.910102087969, + 2455.7050830170388, + 35.107889027182615 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1831.410102087969, + 2458.303159228392, + 35.107889027182615 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1832.910102087969, + 2460.901235439745, + 35.107889027182615 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1834.410102087969, + 2463.499311651098, + 35.107889027182615 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1835.910102087969, + 2466.0973878624513, + 35.107889027182615 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1837.410102087969, + 2468.6954640738045, + 35.107889027182615 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1838.910102087969, + 2471.2935402851576, + 35.107889027182615 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1840.410102087969, + 2473.891616496511, + 35.107889027182615 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1841.910102087969, + 2476.489692707864, + 35.107889027182615 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1843.410102087969, + 2479.087768919217, + 35.107889027182615 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1844.910102087969, + 2481.68584513057, + 35.107889027182615 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1846.410102087969, + 2484.2839213419234, + 35.107889027182615 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1847.910102087969, + 2486.8819975532765, + 35.107889027182615 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1849.410102087969, + 2489.4800737646297, + 35.107889027182615 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1850.910102087969, + 2492.078149975983, + 35.107889027182615 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1852.410102087969, + 2494.676226187336, + 35.107889027182615 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1853.910102087969, + 2497.274302398689, + 35.107889027182615 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1855.410102087969, + 2499.8723786100422, + 35.107889027182615 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023932237 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1900.0, + 2576.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_22-18-48_1179339467/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_22-18-48_1179339467/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..652f6221fc45f189e264a01e3f827f133e68b22a --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_22-18-48_1179339467/pose.jsonl @@ -0,0 +1,171 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2970.102646232152, + 2230.978030620875, + 23.260368558030144 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2973.102646232152, + 2230.978030620875, + 23.260368558030144 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2976.102646232152, + 2230.978030620875, + 23.260368558030144 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2979.102646232152, + 2230.978030620875, + 23.260368558030144 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2982.102646232152, + 2230.978030620875, + 23.260368558030144 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2985.102646232152, + 2230.978030620875, + 23.260368558030144 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2988.102646232152, + 2230.978030620875, + 23.260368558030144 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2991.102646232152, + 2230.978030620875, + 23.260368558030144 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2994.102646232152, + 2230.978030620875, + 23.260368558030144 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2994.102646232152, + 2230.978030620875, + 23.260368558030144 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2996.700722443505, + 2229.478030620875, + 23.260368558030144 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2999.2987986548583, + 2227.978030620875, + 23.260368558030144 + ], + "type": "stop", + "value": 0, + "yaw": -2.617993877991466 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -3144.0, + 2204.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_22-20-57_956774406/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_22-20-57_956774406/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f4152b213bd948100b3d89ff3db5cc80b9b76b1e --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_22-20-57_956774406/pose.jsonl @@ -0,0 +1,93 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3335.2954981163925, + -2920.1666800346097, + 26.12160631751947 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3336.7954981163925, + -2922.764756245963, + 26.12160631751947 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3338.2954981163925, + -2925.362832457316, + 26.12160631751947 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3339.7954981163925, + -2927.960908668669, + 26.12160631751947 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3339.7954981163925, + -2927.960908668669, + 26.12160631751947 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948681 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3339.7954981163925, + -2930.960908668669, + 26.12160631751947 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948681 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3384.0, + -3064.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_22-25-58_1813908251/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_22-25-58_1813908251/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..65ae9501f1f75e8fac526a09630ec5644f4f93b7 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_22-25-58_1813908251/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1330.0491836114736, + 1594.0985729988417, + 14.2462126706425 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1327.4511074001202, + 1592.5985729988417, + 14.2462126706425 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1324.8530311887669, + 1591.0985729988417, + 14.2462126706425 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1322.2549549774135, + 1589.5985729988417, + 14.2462126706425 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1319.6568787660601, + 1588.0985729988417, + 14.2462126706425 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1317.0588025547067, + 1586.5985729988417, + 14.2462126706425 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1314.4607263433534, + 1585.0985729988417, + 14.2462126706425 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1311.862650132, + 1583.5985729988417, + 14.2462126706425 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1309.2645739206466, + 1582.0985729988417, + 14.2462126706425 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1306.6664977092933, + 1580.5985729988417, + 14.2462126706425 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1304.0684214979399, + 1579.0985729988417, + 14.2462126706425 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1301.4703452865865, + 1577.5985729988417, + 14.2462126706425 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1298.8722690752331, + 1576.0985729988417, + 14.2462126706425 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1296.2741928638798, + 1574.5985729988417, + 14.2462126706425 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1293.6761166525264, + 1573.0985729988417, + 14.2462126706425 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1291.078040441173, + 1571.5985729988417, + 14.2462126706425 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1288.4799642298196, + 1570.0985729988417, + 14.2462126706425 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1285.8818880184663, + 1568.5985729988417, + 14.2462126706425 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1283.283811807113, + 1567.0985729988417, + 14.2462126706425 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1280.6857355957595, + 1565.5985729988417, + 14.2462126706425 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1278.0876593844062, + 1564.0985729988417, + 14.2462126706425 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1275.4895831730528, + 1562.5985729988417, + 14.2462126706425 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1272.8915069616994, + 1561.0985729988417, + 14.2462126706425 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1270.293430750346, + 1559.5985729988417, + 14.2462126706425 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1267.6953545389927, + 1558.0985729988417, + 14.2462126706425 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1265.0972783276393, + 1556.5985729988417, + 14.2462126706425 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1262.499202116286, + 1555.0985729988417, + 14.2462126706425 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1259.9011259049325, + 1553.5985729988417, + 14.2462126706425 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1257.3030496935792, + 1552.0985729988417, + 14.2462126706425 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1254.7049734822258, + 1550.5985729988417, + 14.2462126706425 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1252.1068972708724, + 1549.0985729988417, + 14.2462126706425 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1249.508821059519, + 1547.5985729988417, + 14.2462126706425 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1246.9107448481657, + 1546.0985729988417, + 14.2462126706425 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1244.3126686368123, + 1544.5985729988417, + 14.2462126706425 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1241.714592425459, + 1543.0985729988417, + 14.2462126706425 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1239.1165162141056, + 1541.5985729988417, + 14.2462126706425 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1236.5184400027522, + 1540.0985729988417, + 14.2462126706425 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1233.9203637913988, + 1538.5985729988417, + 14.2462126706425 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1231.3222875800454, + 1537.0985729988417, + 14.2462126706425 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1228.724211368692, + 1535.5985729988417, + 14.2462126706425 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1226.1261351573387, + 1534.0985729988417, + 14.2462126706425 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1223.5280589459853, + 1532.5985729988417, + 14.2462126706425 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1220.929982734632, + 1531.0985729988417, + 14.2462126706425 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1220.929982734632, + 1531.0985729988417, + 14.2462126706425 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1217.929982734632, + 1531.0985729988417, + 14.2462126706425 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1217.929982734632, + 1531.0985729988417, + 14.2462126706425 + ], + "type": "turn left", + "value": 30, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1217.929982734632, + 1531.0985729988417, + 14.2462126706425 + ], + "type": "go straight", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1216.429982734632, + 1528.5004967874884, + 14.2462126706425 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1214.929982734632, + 1525.902420576135, + 14.2462126706425 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1213.429982734632, + 1523.3043443647816, + 14.2462126706425 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1211.929982734632, + 1520.7062681534283, + 14.2462126706425 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1211.929982734632, + 1520.7062681534283, + 14.2462126706425 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1211.929982734632, + 1520.7062681534283, + 14.2462126706425 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535897833 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1208.929982734632, + 1520.7062681534283, + 14.2462126706425 + ], + "type": "stop", + "value": 0, + "yaw": -3.1415926535897833 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1188.0, + 1508.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_22-30-17_57518732/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_22-30-17_57518732/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..62ad5bc15c35dfdf3daa19f7fac80c4fca4e847a --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_22-30-17_57518732/pose.jsonl @@ -0,0 +1,899 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2344.1694413314444, + -2018.9209888327057, + 28.048199162256754 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2345.6694413314444, + -2016.3229126213523, + 28.048199162256754 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2347.1694413314444, + -2013.724836409999, + 28.048199162256754 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2348.6694413314444, + -2011.1267601986456, + 28.048199162256754 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2350.1694413314444, + -2008.5286839872922, + 28.048199162256754 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2351.6694413314444, + -2005.9306077759388, + 28.048199162256754 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2353.1694413314444, + -2003.3325315645855, + 28.048199162256754 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2354.6694413314444, + -2000.734455353232, + 28.048199162256754 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2356.1694413314444, + -1998.1363791418787, + 28.048199162256754 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2357.6694413314444, + -1995.5383029305253, + 28.048199162256754 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2359.1694413314444, + -1992.940226719172, + 28.048199162256754 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2360.6694413314444, + -1990.3421505078186, + 28.048199162256754 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2362.1694413314444, + -1987.7440742964652, + 28.048199162256754 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2363.6694413314444, + -1985.1459980851118, + 28.048199162256754 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2365.1694413314444, + -1982.5479218737585, + 28.048199162256754 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2366.6694413314444, + -1979.949845662405, + 28.048199162256754 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2368.1694413314444, + -1977.3517694510517, + 28.048199162256754 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2368.1694413314444, + -1977.3517694510517, + 28.048199162256754 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2368.1694413314444, + -1974.3517694510517, + 28.048199162256754 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2368.1694413314444, + -1971.3517694510517, + 28.048199162256754 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2368.1694413314444, + -1968.3517694510517, + 28.048199162256754 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2368.1694413314444, + -1965.3517694510517, + 28.048199162256754 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2368.1694413314444, + -1962.3517694510517, + 28.048199162256754 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2368.1694413314444, + -1959.3517694510517, + 28.048199162256754 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2368.1694413314444, + -1956.3517694510517, + 28.048199162256754 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2368.1694413314444, + -1953.3517694510517, + 28.048199162256754 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2368.1694413314444, + -1950.3517694510517, + 28.048199162256754 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2368.1694413314444, + -1947.3517694510517, + 28.048199162256754 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2368.1694413314444, + -1944.3517694510517, + 28.048199162256754 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2368.1694413314444, + -1941.3517694510517, + 28.048199162256754 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2368.1694413314444, + -1938.3517694510517, + 28.048199162256754 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2368.1694413314444, + -1935.3517694510517, + 28.048199162256754 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2368.1694413314444, + -1932.3517694510517, + 28.048199162256754 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2368.1694413314444, + -1929.3517694510517, + 28.048199162256754 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2368.1694413314444, + -1929.3517694510517, + 28.048199162256754 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -2368.1694413314444, + -1929.3517694510517, + 28.048199162256754 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -2365.5713651200913, + -1927.8517694510517, + 28.048199162256754 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -2362.973288908738, + -1926.3517694510517, + 28.048199162256754 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -2360.375212697385, + -1924.8517694510517, + 28.048199162256754 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -2357.777136486032, + -1923.3517694510517, + 28.048199162256754 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -2355.1790602746787, + -1921.8517694510517, + 28.048199162256754 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -2352.5809840633256, + -1920.3517694510517, + 28.048199162256754 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -2349.9829078519724, + -1918.8517694510517, + 28.048199162256754 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -2349.9829078519724, + -1918.8517694510517, + 28.048199162256754 + ], + "type": "turn left", + "value": 30, + "yaw": 1.047197551196626 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -2349.9829078519724, + -1918.8517694510517, + 28.048199162256754 + ], + "type": "go straight", + "value": 3, + "yaw": 1.570796326794925 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -2349.9829078519724, + -1915.8517694510517, + 28.048199162256754 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -2349.9829078519724, + -1912.8517694510517, + 28.048199162256754 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -2349.9829078519724, + -1909.8517694510517, + 28.048199162256754 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -2349.9829078519724, + -1906.8517694510517, + 28.048199162256754 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -2349.9829078519724, + -1903.8517694510517, + 28.048199162256754 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -2349.9829078519724, + -1900.8517694510517, + 28.048199162256754 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -2349.9829078519724, + -1897.8517694510517, + 28.048199162256754 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -2349.9829078519724, + -1894.8517694510517, + 28.048199162256754 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -2349.9829078519724, + -1891.8517694510517, + 28.048199162256754 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -2349.9829078519724, + -1888.8517694510517, + 28.048199162256754 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -2349.9829078519724, + -1888.8517694510517, + 28.048199162256754 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -2351.4829078519724, + -1886.2536932396984, + 28.048199162256754 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -2352.9829078519724, + -1883.655617028345, + 28.048199162256754 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -2354.4829078519724, + -1881.0575408169916, + 28.048199162256754 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -2355.9829078519724, + -1878.4594646056382, + 28.048199162256754 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -2357.4829078519724, + -1875.8613883942849, + 28.048199162256754 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -2357.4829078519724, + -1875.8613883942849, + 28.048199162256754 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -2360.0809840633256, + -1874.3613883942849, + 28.048199162256754 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -2362.6790602746787, + -1872.8613883942849, + 28.048199162256754 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -2365.277136486032, + -1871.3613883942849, + 28.048199162256754 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -2367.875212697385, + -1869.8613883942849, + 28.048199162256754 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -2370.473288908738, + -1868.3613883942849, + 28.048199162256754 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -2373.0713651200913, + -1866.8613883942849, + 28.048199162256754 + ], + "type": "stop", + "value": 0, + "yaw": 2.617993877991466 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2380.0, + -1844.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_22-35-12_961135338/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_22-35-12_961135338/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e07b3111cd954c3e0fdacf43726d9fb543bc8876 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_22-35-12_961135338/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1767.6712566053016, + 242.29162902494227, + 24.882137021656348 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1766.1712566053016, + 239.69355281358895, + 24.882137021656348 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1764.6712566053016, + 237.09547660223564, + 24.882137021656348 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1763.1712566053016, + 234.49740039088232, + 24.882137021656348 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1761.6712566053016, + 231.899324179529, + 24.882137021656348 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1760.1712566053016, + 229.3012479681757, + 24.882137021656348 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1758.6712566053016, + 226.70317175682237, + 24.882137021656348 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1757.1712566053016, + 224.10509554546906, + 24.882137021656348 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1755.6712566053016, + 221.50701933411574, + 24.882137021656348 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1754.1712566053016, + 218.90894312276242, + 24.882137021656348 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1752.6712566053016, + 216.3108669114091, + 24.882137021656348 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1751.1712566053016, + 213.7127907000558, + 24.882137021656348 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1749.6712566053016, + 211.11471448870248, + 24.882137021656348 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1748.1712566053016, + 208.51663827734916, + 24.882137021656348 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1746.6712566053016, + 205.91856206599584, + 24.882137021656348 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1745.1712566053016, + 203.32048585464253, + 24.882137021656348 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1743.6712566053016, + 200.7224096432892, + 24.882137021656348 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1742.1712566053016, + 198.1243334319359, + 24.882137021656348 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1740.6712566053016, + 195.52625722058258, + 24.882137021656348 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1739.1712566053016, + 192.92818100922926, + 24.882137021656348 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1737.6712566053016, + 190.33010479787595, + 24.882137021656348 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1736.1712566053016, + 187.73202858652263, + 24.882137021656348 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1734.6712566053016, + 185.13395237516932, + 24.882137021656348 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1733.1712566053016, + 182.535876163816, + 24.882137021656348 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1731.6712566053016, + 179.93779995246268, + 24.882137021656348 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1730.1712566053016, + 177.33972374110937, + 24.882137021656348 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1728.6712566053016, + 174.74164752975605, + 24.882137021656348 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1727.1712566053016, + 172.14357131840273, + 24.882137021656348 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1725.6712566053016, + 169.54549510704942, + 24.882137021656348 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1724.1712566053016, + 166.9474188956961, + 24.882137021656348 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1722.6712566053016, + 164.3493426843428, + 24.882137021656348 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1721.1712566053016, + 161.75126647298947, + 24.882137021656348 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1719.6712566053016, + 159.15319026163615, + 24.882137021656348 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1718.1712566053016, + 156.55511405028284, + 24.882137021656348 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1716.6712566053016, + 153.95703783892952, + 24.882137021656348 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1715.1712566053016, + 151.3589616275762, + 24.882137021656348 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1713.6712566053016, + 148.7608854162229, + 24.882137021656348 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1712.1712566053016, + 146.16280920486957, + 24.882137021656348 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1710.6712566053016, + 143.56473299351626, + 24.882137021656348 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1709.1712566053016, + 140.96665678216294, + 24.882137021656348 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1707.6712566053016, + 138.36858057080963, + 24.882137021656348 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1707.6712566053016, + 138.36858057080963, + 24.882137021656348 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1705.0731803939482, + 136.86858057080963, + 24.882137021656348 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1702.4751041825948, + 135.36858057080963, + 24.882137021656348 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1699.8770279712414, + 133.86858057080963, + 24.882137021656348 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1697.278951759888, + 132.36858057080963, + 24.882137021656348 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1694.6808755485347, + 130.86858057080963, + 24.882137021656348 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1692.0827993371813, + 129.36858057080963, + 24.882137021656348 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1672.0, + 104.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_22-36-40_280981337/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_22-36-40_280981337/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a51e562dc8570db7b0ba2cd659cbe93865680c09 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_22-36-40_280981337/pose.jsonl @@ -0,0 +1,782 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2504.201193045196, + -1650.1610639965368, + 36.148866058256196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2505.701193045196, + -1652.7591402078901, + 36.148866058256196 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2505.701193045196, + -1652.7591402078901, + 36.148866058256196 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2505.701193045196, + -1655.7591402078901, + 36.148866058256196 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2505.701193045196, + -1658.7591402078901, + 36.148866058256196 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2505.701193045196, + -1661.7591402078901, + 36.148866058256196 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2505.701193045196, + -1664.7591402078901, + 36.148866058256196 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2505.701193045196, + -1667.7591402078901, + 36.148866058256196 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2505.701193045196, + -1670.7591402078901, + 36.148866058256196 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2505.701193045196, + -1673.7591402078901, + 36.148866058256196 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2505.701193045196, + -1676.7591402078901, + 36.148866058256196 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2505.701193045196, + -1679.7591402078901, + 36.148866058256196 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2505.701193045196, + -1682.7591402078901, + 36.148866058256196 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2505.701193045196, + -1685.7591402078901, + 36.148866058256196 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2505.701193045196, + -1685.7591402078901, + 36.148866058256196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2507.201193045196, + -1688.3572164192435, + 36.148866058256196 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2507.201193045196, + -1688.3572164192435, + 36.148866058256196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2509.799269256549, + -1689.8572164192435, + 36.148866058256196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2512.397345467902, + -1691.3572164192435, + 36.148866058256196 + ], + "type": "turn left", + "value": 30, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2512.397345467902, + -1691.3572164192435, + 36.148866058256196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931673 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2513.897345467902, + -1693.955292630597, + 36.148866058256196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2515.397345467902, + -1696.5533688419503, + 36.148866058256196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2516.897345467902, + -1699.1514450533036, + 36.148866058256196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2518.397345467902, + -1701.749521264657, + 36.148866058256196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2519.897345467902, + -1704.3475974760104, + 36.148866058256196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2521.397345467902, + -1706.9456736873638, + 36.148866058256196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2522.897345467902, + -1709.5437498987171, + 36.148866058256196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2524.397345467902, + -1712.1418261100705, + 36.148866058256196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2525.897345467902, + -1714.7399023214239, + 36.148866058256196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2527.397345467902, + -1717.3379785327772, + 36.148866058256196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2528.897345467902, + -1719.9360547441306, + 36.148866058256196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2530.397345467902, + -1722.534130955484, + 36.148866058256196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2531.897345467902, + -1725.1322071668374, + 36.148866058256196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2533.397345467902, + -1727.7302833781907, + 36.148866058256196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2534.897345467902, + -1730.328359589544, + 36.148866058256196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -2536.397345467902, + -1732.9264358008975, + 36.148866058256196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -2537.897345467902, + -1735.5245120122509, + 36.148866058256196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -2539.397345467902, + -1738.1225882236042, + 36.148866058256196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -2540.897345467902, + -1740.7206644349576, + 36.148866058256196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -2542.397345467902, + -1743.318740646311, + 36.148866058256196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -2543.897345467902, + -1745.9168168576643, + 36.148866058256196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -2545.397345467902, + -1748.5148930690177, + 36.148866058256196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -2546.897345467902, + -1751.112969280371, + 36.148866058256196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -2548.397345467902, + -1753.7110454917245, + 36.148866058256196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -2549.897345467902, + -1756.3091217030778, + 36.148866058256196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -2551.397345467902, + -1758.9071979144312, + 36.148866058256196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -2552.897345467902, + -1761.5052741257846, + 36.148866058256196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -2554.397345467902, + -1764.103350337138, + 36.148866058256196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -2555.897345467902, + -1766.7014265484913, + 36.148866058256196 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -2555.897345467902, + -1766.7014265484913, + 36.148866058256196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -2558.4954216792553, + -1768.2014265484913, + 36.148866058256196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -2561.0934978906084, + -1769.7014265484913, + 36.148866058256196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -2563.6915741019616, + -1771.2014265484913, + 36.148866058256196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -2566.2896503133147, + -1772.7014265484913, + 36.148866058256196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -2568.887726524668, + -1774.2014265484913, + 36.148866058256196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -2571.485802736021, + -1775.7014265484913, + 36.148866058256196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -2574.083878947374, + -1777.2014265484913, + 36.148866058256196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -2576.6819551587273, + -1778.7014265484913, + 36.148866058256196 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -2579.2800313700805, + -1780.2014265484913, + 36.148866058256196 + ], + "type": "stop", + "value": 0, + "yaw": -2.617993877991466 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2588.0, + -1796.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_22-4-7_1259076780/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_22-4-7_1259076780/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..87177985d40b7e513414de39b93d7a1fc72caa94 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_22-4-7_1259076780/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1333.1488764044193, + -413.10840519733176, + 34.527450142309355 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1334.6488764044193, + -410.51032898597845, + 34.527450142309355 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1336.1488764044193, + -407.91225277462513, + 34.527450142309355 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1337.6488764044193, + -405.3141765632718, + 34.527450142309355 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1339.1488764044193, + -402.7161003519185, + 34.527450142309355 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1340.6488764044193, + -400.1180241405652, + 34.527450142309355 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1342.1488764044193, + -397.51994792921187, + 34.527450142309355 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1343.6488764044193, + -394.92187171785855, + 34.527450142309355 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1345.1488764044193, + -392.32379550650523, + 34.527450142309355 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1346.6488764044193, + -389.7257192951519, + 34.527450142309355 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1348.1488764044193, + -387.1276430837986, + 34.527450142309355 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1349.6488764044193, + -384.5295668724453, + 34.527450142309355 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1351.1488764044193, + -381.93149066109197, + 34.527450142309355 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1352.6488764044193, + -379.33341444973865, + 34.527450142309355 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1354.1488764044193, + -376.73533823838534, + 34.527450142309355 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1355.6488764044193, + -374.137262027032, + 34.527450142309355 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1357.1488764044193, + -371.5391858156787, + 34.527450142309355 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1358.6488764044193, + -368.9411096043254, + 34.527450142309355 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1360.1488764044193, + -366.3430333929721, + 34.527450142309355 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1361.6488764044193, + -363.74495718161876, + 34.527450142309355 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1363.1488764044193, + -361.14688097026544, + 34.527450142309355 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1364.6488764044193, + -358.5488047589121, + 34.527450142309355 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1366.1488764044193, + -355.9507285475588, + 34.527450142309355 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1367.6488764044193, + -353.3526523362055, + 34.527450142309355 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1369.1488764044193, + -350.7545761248522, + 34.527450142309355 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1370.6488764044193, + -348.15649991349886, + 34.527450142309355 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1372.1488764044193, + -345.55842370214555, + 34.527450142309355 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1372.1488764044193, + -345.55842370214555, + 34.527450142309355 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1374.7469526157727, + -344.05842370214555, + 34.527450142309355 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1377.345028827126, + -342.55842370214555, + 34.527450142309355 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1379.9431050384794, + -341.05842370214555, + 34.527450142309355 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1382.5411812498328, + -339.55842370214555, + 34.527450142309355 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1385.1392574611862, + -338.05842370214555, + 34.527450142309355 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1387.7373336725395, + -336.55842370214555, + 34.527450142309355 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1390.335409883893, + -335.05842370214555, + 34.527450142309355 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1392.9334860952463, + -333.55842370214555, + 34.527450142309355 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1395.5315623065997, + -332.05842370214555, + 34.527450142309355 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1395.5315623065997, + -332.05842370214555, + 34.527450142309355 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1398.5315623065997, + -332.05842370214555, + 34.527450142309355 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1401.5315623065997, + -332.05842370214555, + 34.527450142309355 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1404.5315623065997, + -332.05842370214555, + 34.527450142309355 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1407.5315623065997, + -332.05842370214555, + 34.527450142309355 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1410.5315623065997, + -332.05842370214555, + 34.527450142309355 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1413.5315623065997, + -332.05842370214555, + 34.527450142309355 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1416.5315623065997, + -332.05842370214555, + 34.527450142309355 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1419.5315623065997, + -332.05842370214555, + 34.527450142309355 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1444.0, + -312.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_22-42-48_248574635/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_22-42-48_248574635/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..60e76cbb6e8865ef471e8c98129cbcfbddb2c35d --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_22-42-48_248574635/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3578.7148564342283, + -597.959963172561, + 16.413969415971778 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3577.2148564342283, + -595.3618869612076, + 16.413969415971778 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3575.7148564342283, + -592.7638107498542, + 16.413969415971778 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3574.2148564342283, + -590.1657345385008, + 16.413969415971778 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3572.7148564342283, + -587.5676583271475, + 16.413969415971778 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3571.2148564342283, + -584.9695821157941, + 16.413969415971778 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3569.7148564342283, + -582.3715059044407, + 16.413969415971778 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3568.2148564342283, + -579.7734296930873, + 16.413969415971778 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 3566.7148564342283, + -577.175353481734, + 16.413969415971778 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 3565.2148564342283, + -574.5772772703806, + 16.413969415971778 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 3563.7148564342283, + -571.9792010590272, + 16.413969415971778 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 3562.2148564342283, + -569.3811248476738, + 16.413969415971778 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 3560.7148564342283, + -566.7830486363205, + 16.413969415971778 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 3559.2148564342283, + -564.1849724249671, + 16.413969415971778 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 3557.7148564342283, + -561.5868962136137, + 16.413969415971778 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 3556.2148564342283, + -558.9888200022604, + 16.413969415971778 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 3554.7148564342283, + -556.390743790907, + 16.413969415971778 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 3553.2148564342283, + -553.7926675795536, + 16.413969415971778 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 3551.7148564342283, + -551.1945913682002, + 16.413969415971778 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 3550.2148564342283, + -548.5965151568469, + 16.413969415971778 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 3548.7148564342283, + -545.9984389454935, + 16.413969415971778 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 3547.2148564342283, + -543.4003627341401, + 16.413969415971778 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 3545.7148564342283, + -540.8022865227867, + 16.413969415971778 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 3544.2148564342283, + -538.2042103114334, + 16.413969415971778 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 3542.7148564342283, + -535.60613410008, + 16.413969415971778 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 3541.2148564342283, + -533.0080578887266, + 16.413969415971778 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 3539.7148564342283, + -530.4099816773733, + 16.413969415971778 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 3539.7148564342283, + -530.4099816773733, + 16.413969415971778 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 3539.7148564342283, + -527.4099816773733, + 16.413969415971778 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 3539.7148564342283, + -524.4099816773733, + 16.413969415971778 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 3539.7148564342283, + -521.4099816773733, + 16.413969415971778 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 3539.7148564342283, + -518.4099816773733, + 16.413969415971778 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 3539.7148564342283, + -515.4099816773733, + 16.413969415971778 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 3539.7148564342283, + -512.4099816773733, + 16.413969415971778 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 3539.7148564342283, + -509.40998167737325, + 16.413969415971778 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 3539.7148564342283, + -506.40998167737325, + 16.413969415971778 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 3539.7148564342283, + -503.40998167737325, + 16.413969415971778 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 3539.7148564342283, + -500.40998167737325, + 16.413969415971778 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 3539.7148564342283, + -497.40998167737325, + 16.413969415971778 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 3539.7148564342283, + -494.40998167737325, + 16.413969415971778 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 3539.7148564342283, + -491.40998167737325, + 16.413969415971778 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 3539.7148564342283, + -488.40998167737325, + 16.413969415971778 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 3539.7148564342283, + -485.40998167737325, + 16.413969415971778 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 3539.7148564342283, + -482.40998167737325, + 16.413969415971778 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 3539.7148564342283, + -479.40998167737325, + 16.413969415971778 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 3539.7148564342283, + -476.40998167737325, + 16.413969415971778 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 3539.7148564342283, + -473.40998167737325, + 16.413969415971778 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 3539.7148564342283, + -470.40998167737325, + 16.413969415971778 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3532.0, + -444.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_22-43-35_2091729405/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_22-43-35_2091729405/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e1c15629ec891ac62e6f3e149253e46ed7b1e88b --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_22-43-35_2091729405/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4824.954039693577, + 2020.1349555046809, + 31.917650810022867 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4822.355963482224, + 2018.6349555046809, + 31.917650810022867 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4819.757887270871, + 2017.1349555046809, + 31.917650810022867 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4817.159811059518, + 2015.6349555046809, + 31.917650810022867 + ], + "type": "turn left", + "value": 30, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4817.159811059518, + 2015.6349555046809, + 31.917650810022867 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931673 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4815.659811059518, + 2013.0368792933275, + 31.917650810022867 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4814.159811059518, + 2010.4388030819741, + 31.917650810022867 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4812.659811059518, + 2007.8407268706208, + 31.917650810022867 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4811.159811059518, + 2005.2426506592674, + 31.917650810022867 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4809.659811059518, + 2002.644574447914, + 31.917650810022867 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4808.159811059518, + 2000.0464982365606, + 31.917650810022867 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4806.659811059518, + 1997.4484220252073, + 31.917650810022867 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4805.159811059518, + 1994.850345813854, + 31.917650810022867 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4803.659811059518, + 1992.2522696025005, + 31.917650810022867 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4802.159811059518, + 1989.6541933911471, + 31.917650810022867 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4800.659811059518, + 1987.0561171797938, + 31.917650810022867 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 4799.159811059518, + 1984.4580409684404, + 31.917650810022867 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 4797.659811059518, + 1981.859964757087, + 31.917650810022867 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 4796.159811059518, + 1979.2618885457337, + 31.917650810022867 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 4794.659811059518, + 1976.6638123343803, + 31.917650810022867 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 4794.659811059518, + 1976.6638123343803, + 31.917650810022867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 4794.659811059518, + 1973.6638123343803, + 31.917650810022867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 4794.659811059518, + 1970.6638123343803, + 31.917650810022867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 4794.659811059518, + 1967.6638123343803, + 31.917650810022867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 4794.659811059518, + 1964.6638123343803, + 31.917650810022867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 4794.659811059518, + 1961.6638123343803, + 31.917650810022867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 4794.659811059518, + 1958.6638123343803, + 31.917650810022867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 4794.659811059518, + 1955.6638123343803, + 31.917650810022867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 4794.659811059518, + 1952.6638123343803, + 31.917650810022867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 4794.659811059518, + 1949.6638123343803, + 31.917650810022867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 4794.659811059518, + 1946.6638123343803, + 31.917650810022867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 4794.659811059518, + 1943.6638123343803, + 31.917650810022867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 4794.659811059518, + 1940.6638123343803, + 31.917650810022867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 4794.659811059518, + 1937.6638123343803, + 31.917650810022867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 4794.659811059518, + 1934.6638123343803, + 31.917650810022867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 4794.659811059518, + 1931.6638123343803, + 31.917650810022867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 4794.659811059518, + 1928.6638123343803, + 31.917650810022867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 4794.659811059518, + 1925.6638123343803, + 31.917650810022867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 4794.659811059518, + 1922.6638123343803, + 31.917650810022867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 4794.659811059518, + 1919.6638123343803, + 31.917650810022867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 4794.659811059518, + 1916.6638123343803, + 31.917650810022867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 4794.659811059518, + 1913.6638123343803, + 31.917650810022867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 4794.659811059518, + 1910.6638123343803, + 31.917650810022867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 4794.659811059518, + 1907.6638123343803, + 31.917650810022867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 4794.659811059518, + 1904.6638123343803, + 31.917650810022867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 4794.659811059518, + 1901.6638123343803, + 31.917650810022867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 4794.659811059518, + 1898.6638123343803, + 31.917650810022867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 4794.659811059518, + 1895.6638123343803, + 31.917650810022867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 4794.659811059518, + 1892.6638123343803, + 31.917650810022867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 4794.659811059518, + 1889.6638123343803, + 31.917650810022867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 4794.659811059518, + 1886.6638123343803, + 31.917650810022867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 4794.659811059518, + 1883.6638123343803, + 31.917650810022867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 4794.659811059518, + 1880.6638123343803, + 31.917650810022867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 4794.659811059518, + 1877.6638123343803, + 31.917650810022867 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4788.0, + 1844.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_22-53-50_806176022/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_22-53-50_806176022/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3b58d28605339be39f49ba72c1fe8a7ea327d7a1 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_22-53-50_806176022/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -641.4291691163805, + -321.74285955629637, + 37.83981264777107 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -642.9291691163805, + -319.14478334494305, + 37.83981264777107 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -644.4291691163805, + -316.54670713358973, + 37.83981264777107 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -645.9291691163805, + -313.9486309222364, + 37.83981264777107 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -647.4291691163805, + -311.3505547108831, + 37.83981264777107 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -648.9291691163805, + -308.7524784995298, + 37.83981264777107 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -650.4291691163805, + -306.15440228817647, + 37.83981264777107 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -651.9291691163805, + -303.55632607682315, + 37.83981264777107 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -653.4291691163805, + -300.95824986546984, + 37.83981264777107 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -654.9291691163805, + -298.3601736541165, + 37.83981264777107 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -656.4291691163805, + -295.7620974427632, + 37.83981264777107 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -657.9291691163805, + -293.1640212314099, + 37.83981264777107 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -659.4291691163805, + -290.5659450200566, + 37.83981264777107 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -660.9291691163805, + -287.96786880870326, + 37.83981264777107 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -662.4291691163805, + -285.36979259734994, + 37.83981264777107 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -663.9291691163805, + -282.7717163859966, + 37.83981264777107 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -665.4291691163805, + -280.1736401746433, + 37.83981264777107 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -666.9291691163805, + -277.57556396329, + 37.83981264777107 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -668.4291691163805, + -274.9774877519367, + 37.83981264777107 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -669.9291691163805, + -272.37941154058336, + 37.83981264777107 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -671.4291691163805, + -269.78133532923005, + 37.83981264777107 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -672.9291691163805, + -267.18325911787673, + 37.83981264777107 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -674.4291691163805, + -264.5851829065234, + 37.83981264777107 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -675.9291691163805, + -261.9871066951701, + 37.83981264777107 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -677.4291691163805, + -259.3890304838168, + 37.83981264777107 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -678.9291691163805, + -256.79095427246347, + 37.83981264777107 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -680.4291691163805, + -254.19287806111015, + 37.83981264777107 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -681.9291691163805, + -251.59480184975683, + 37.83981264777107 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -683.4291691163805, + -248.99672563840352, + 37.83981264777107 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -684.9291691163805, + -246.3986494270502, + 37.83981264777107 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -684.9291691163805, + -246.3986494270502, + 37.83981264777107 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -687.5272453277339, + -244.8986494270502, + 37.83981264777107 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -690.1253215390873, + -243.3986494270502, + 37.83981264777107 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -692.7233977504407, + -241.8986494270502, + 37.83981264777107 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -695.321473961794, + -240.3986494270502, + 37.83981264777107 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -697.9195501731474, + -238.8986494270502, + 37.83981264777107 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -700.5176263845008, + -237.3986494270502, + 37.83981264777107 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -703.1157025958541, + -235.8986494270502, + 37.83981264777107 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -705.7137788072075, + -234.3986494270502, + 37.83981264777107 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -708.3118550185609, + -232.8986494270502, + 37.83981264777107 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -744.0, + -184.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_22-59-33_977415389/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_22-59-33_977415389/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69b059677afe18ce6f3f5dc64dba8f195619401 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_22-59-33_977415389/pose.jsonl @@ -0,0 +1,158 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1359.109980066968, + -1382.7256851861207, + 39.99548623626157 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1357.609980066968, + -1380.1276089747673, + 39.99548623626157 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1356.109980066968, + -1377.529532763414, + 39.99548623626157 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1354.609980066968, + -1374.9314565520606, + 39.99548623626157 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1353.109980066968, + -1372.3333803407072, + 39.99548623626157 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1351.609980066968, + -1369.7353041293538, + 39.99548623626157 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1350.109980066968, + -1367.1372279180005, + 39.99548623626157 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1348.609980066968, + -1364.539151706647, + 39.99548623626157 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1347.109980066968, + -1361.9410754952937, + 39.99548623626157 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1345.609980066968, + -1359.3429992839403, + 39.99548623626157 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1344.109980066968, + -1356.744923072587, + 39.99548623626157 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1284.0, + -1252.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_22-6-53_78756298/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_22-6-53_78756298/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fc49c9dc5257b61eff16500016547477a70a9801 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_22-6-53_78756298/pose.jsonl @@ -0,0 +1,574 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3537.1215085370404, + 1149.2837918049365, + 31.02783688862421 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3538.6215085370404, + 1151.88186801629, + 31.02783688862421 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3540.1215085370404, + 1154.4799442276433, + 31.02783688862421 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3541.6215085370404, + 1157.0780204389966, + 31.02783688862421 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3543.1215085370404, + 1159.67609665035, + 31.02783688862421 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3544.6215085370404, + 1162.2741728617034, + 31.02783688862421 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3546.1215085370404, + 1164.8722490730568, + 31.02783688862421 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3547.6215085370404, + 1167.4703252844101, + 31.02783688862421 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 3549.1215085370404, + 1170.0684014957635, + 31.02783688862421 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 3550.6215085370404, + 1172.6664777071169, + 31.02783688862421 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 3552.1215085370404, + 1175.2645539184703, + 31.02783688862421 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 3553.6215085370404, + 1177.8626301298236, + 31.02783688862421 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 3555.1215085370404, + 1180.460706341177, + 31.02783688862421 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 3556.6215085370404, + 1183.0587825525304, + 31.02783688862421 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 3558.1215085370404, + 1185.6568587638837, + 31.02783688862421 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 3559.6215085370404, + 1188.2549349752371, + 31.02783688862421 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 3561.1215085370404, + 1190.8530111865905, + 31.02783688862421 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 3562.6215085370404, + 1193.4510873979439, + 31.02783688862421 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 3564.1215085370404, + 1196.0491636092972, + 31.02783688862421 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 3565.6215085370404, + 1198.6472398206506, + 31.02783688862421 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 3567.1215085370404, + 1201.245316032004, + 31.02783688862421 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 3568.6215085370404, + 1203.8433922433574, + 31.02783688862421 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 3570.1215085370404, + 1206.4414684547107, + 31.02783688862421 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 3571.6215085370404, + 1209.039544666064, + 31.02783688862421 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 3573.1215085370404, + 1211.6376208774175, + 31.02783688862421 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 3574.6215085370404, + 1214.2356970887708, + 31.02783688862421 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 3576.1215085370404, + 1216.8337733001242, + 31.02783688862421 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 3577.6215085370404, + 1219.4318495114776, + 31.02783688862421 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 3579.1215085370404, + 1222.029925722831, + 31.02783688862421 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 3580.6215085370404, + 1224.6280019341843, + 31.02783688862421 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 3582.1215085370404, + 1227.2260781455377, + 31.02783688862421 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 3583.6215085370404, + 1229.824154356891, + 31.02783688862421 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 3585.1215085370404, + 1232.4222305682445, + 31.02783688862421 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 3586.6215085370404, + 1235.0203067795978, + 31.02783688862421 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 3588.1215085370404, + 1237.6183829909512, + 31.02783688862421 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 3589.6215085370404, + 1240.2164592023046, + 31.02783688862421 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 3591.1215085370404, + 1242.814535413658, + 31.02783688862421 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 3592.6215085370404, + 1245.4126116250113, + 31.02783688862421 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 3592.6215085370404, + 1245.4126116250113, + 31.02783688862421 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 3592.6215085370404, + 1248.4126116250113, + 31.02783688862421 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 3592.6215085370404, + 1251.4126116250113, + 31.02783688862421 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 3592.6215085370404, + 1254.4126116250113, + 31.02783688862421 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 3592.6215085370404, + 1257.4126116250113, + 31.02783688862421 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3612.0, + 1292.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_22-8-12_1846162289/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_22-8-12_1846162289/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a9e4349ac8ea10571ce307bcfb442c3e08ae0b29 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_22-8-12_1846162289/pose.jsonl @@ -0,0 +1,561 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 34.52497681079106, + 730.857488196784, + 18.200500086928315 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 33.02497681079106, + 728.2594119854307, + 18.200500086928315 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 31.52497681079106, + 725.6613357740773, + 18.200500086928315 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 30.02497681079106, + 723.0632595627239, + 18.200500086928315 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 28.52497681079106, + 720.4651833513706, + 18.200500086928315 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 27.02497681079106, + 717.8671071400172, + 18.200500086928315 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 25.52497681079106, + 715.2690309286638, + 18.200500086928315 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 24.02497681079106, + 712.6709547173105, + 18.200500086928315 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 22.52497681079106, + 710.0728785059571, + 18.200500086928315 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 21.02497681079106, + 707.4748022946037, + 18.200500086928315 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 19.52497681079106, + 704.8767260832503, + 18.200500086928315 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 18.02497681079106, + 702.278649871897, + 18.200500086928315 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 16.52497681079106, + 699.6805736605436, + 18.200500086928315 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 15.02497681079106, + 697.0824974491902, + 18.200500086928315 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 13.52497681079106, + 694.4844212378368, + 18.200500086928315 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 12.02497681079106, + 691.8863450264835, + 18.200500086928315 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 10.52497681079106, + 689.2882688151301, + 18.200500086928315 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 9.02497681079106, + 686.6901926037767, + 18.200500086928315 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 7.524976810791061, + 684.0921163924233, + 18.200500086928315 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 6.0249768107910615, + 681.49404018107, + 18.200500086928315 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 4.524976810791062, + 678.8959639697166, + 18.200500086928315 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 3.0249768107910633, + 676.2978877583632, + 18.200500086928315 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1.524976810791064, + 673.6998115470099, + 18.200500086928315 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 0.02497681079106462, + 671.1017353356565, + 18.200500086928315 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1.4750231892089347, + 668.5036591243031, + 18.200500086928315 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2.975023189208934, + 665.9055829129497, + 18.200500086928315 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -4.475023189208933, + 663.3075067015964, + 18.200500086928315 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -5.975023189208932, + 660.709430490243, + 18.200500086928315 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -7.475023189208931, + 658.1113542788896, + 18.200500086928315 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -8.975023189208931, + 655.5132780675362, + 18.200500086928315 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -10.475023189208931, + 652.9152018561829, + 18.200500086928315 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -11.975023189208931, + 650.3171256448295, + 18.200500086928315 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -11.975023189208931, + 650.3171256448295, + 18.200500086928315 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -14.573099400562247, + 648.8171256448295, + 18.200500086928315 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -17.171175611915565, + 647.3171256448295, + 18.200500086928315 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991495 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -19.76925182326888, + 645.8171256448295, + 18.200500086928315 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -22.367328034622197, + 644.3171256448295, + 18.200500086928315 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -24.965404245975513, + 642.8171256448295, + 18.200500086928315 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -27.56348045732883, + 641.3171256448295, + 18.200500086928315 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -30.161556668682145, + 639.8171256448295, + 18.200500086928315 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -32.75963288003546, + 638.3171256448295, + 18.200500086928315 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -35.35770909138878, + 636.8171256448295, + 18.200500086928315 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -56.0, + 608.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_23-1-59_950777694/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_23-1-59_950777694/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1d9c7efa329b94ee12f901c319f0e56630307ac6 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_23-1-59_950777694/pose.jsonl @@ -0,0 +1,860 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1194.91587252238, + 883.5620648912552, + 17.273950055099924 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1193.41587252238, + 886.1601411026086, + 17.273950055099924 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1191.91587252238, + 888.758217313962, + 17.273950055099924 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1190.41587252238, + 891.3562935253153, + 17.273950055099924 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1188.91587252238, + 893.9543697366687, + 17.273950055099924 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1187.41587252238, + 896.5524459480221, + 17.273950055099924 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1185.91587252238, + 899.1505221593754, + 17.273950055099924 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1184.41587252238, + 901.7485983707288, + 17.273950055099924 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1182.91587252238, + 904.3466745820822, + 17.273950055099924 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1181.41587252238, + 906.9447507934356, + 17.273950055099924 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1179.91587252238, + 909.5428270047889, + 17.273950055099924 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1178.41587252238, + 912.1409032161423, + 17.273950055099924 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1176.91587252238, + 914.7389794274957, + 17.273950055099924 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1175.41587252238, + 917.337055638849, + 17.273950055099924 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1173.91587252238, + 919.9351318502024, + 17.273950055099924 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1172.41587252238, + 922.5332080615558, + 17.273950055099924 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1170.91587252238, + 925.1312842729092, + 17.273950055099924 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1169.41587252238, + 927.7293604842625, + 17.273950055099924 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1167.91587252238, + 930.3274366956159, + 17.273950055099924 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1166.41587252238, + 932.9255129069693, + 17.273950055099924 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1164.91587252238, + 935.5235891183227, + 17.273950055099924 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1164.91587252238, + 935.5235891183227, + 17.273950055099924 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1164.91587252238, + 935.5235891183227, + 17.273950055099924 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535897833 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1161.91587252238, + 935.5235891183227, + 17.273950055099924 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1158.91587252238, + 935.5235891183227, + 17.273950055099924 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1155.91587252238, + 935.5235891183227, + 17.273950055099924 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1152.91587252238, + 935.5235891183227, + 17.273950055099924 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1149.91587252238, + 935.5235891183227, + 17.273950055099924 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1146.91587252238, + 935.5235891183227, + 17.273950055099924 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1143.91587252238, + 935.5235891183227, + 17.273950055099924 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1140.91587252238, + 935.5235891183227, + 17.273950055099924 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1140.91587252238, + 935.5235891183227, + 17.273950055099924 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1138.3177963110265, + 937.0235891183227, + 17.273950055099924 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1135.7197200996732, + 938.5235891183227, + 17.273950055099924 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1133.1216438883198, + 940.0235891183227, + 17.273950055099924 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1133.1216438883198, + 940.0235891183227, + 17.273950055099924 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1133.1216438883198, + 940.0235891183227, + 17.273950055099924 + ], + "type": "go straight", + "value": 3, + "yaw": 1.570796326794906 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1133.1216438883198, + 943.0235891183227, + 17.273950055099924 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1133.1216438883198, + 946.0235891183227, + 17.273950055099924 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1133.1216438883198, + 949.0235891183227, + 17.273950055099924 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1133.1216438883198, + 952.0235891183227, + 17.273950055099924 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1133.1216438883198, + 955.0235891183227, + 17.273950055099924 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1133.1216438883198, + 958.0235891183227, + 17.273950055099924 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1133.1216438883198, + 961.0235891183227, + 17.273950055099924 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1133.1216438883198, + 964.0235891183227, + 17.273950055099924 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1133.1216438883198, + 967.0235891183227, + 17.273950055099924 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1133.1216438883198, + 970.0235891183227, + 17.273950055099924 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1133.1216438883198, + 973.0235891183227, + 17.273950055099924 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1133.1216438883198, + 976.0235891183227, + 17.273950055099924 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1133.1216438883198, + 976.0235891183227, + 17.273950055099924 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1134.6216438883198, + 978.621665329676, + 17.273950055099924 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1136.1216438883198, + 981.2197415410294, + 17.273950055099924 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1137.6216438883198, + 983.8178177523828, + 17.273950055099924 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1139.1216438883198, + 986.4158939637362, + 17.273950055099924 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1140.6216438883198, + 989.0139701750895, + 17.273950055099924 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1142.1216438883198, + 991.6120463864429, + 17.273950055099924 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1142.1216438883198, + 991.6120463864429, + 17.273950055099924 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1142.1216438883198, + 991.6120463864429, + 17.273950055099924 + ], + "type": "go straight", + "value": 3, + "yaw": 9.547918011776346e-15 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1145.1216438883198, + 991.6120463864429, + 17.273950055099924 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1145.1216438883198, + 991.6120463864429, + 17.273950055099924 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1145.1216438883198, + 991.6120463864429, + 17.273950055099924 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1146.6216438883198, + 994.2101225977963, + 17.273950055099924 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1148.1216438883198, + 996.8081988091496, + 17.273950055099924 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1148.1216438883198, + 996.8081988091496, + 17.273950055099924 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1148.1216438883198, + 999.8081988091496, + 17.273950055099924 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267949059 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1128.0, + 1044.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_23-13-21_1789243938/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_23-13-21_1789243938/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b815e535da9a485471a35a2915581e514b70973a --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_23-13-21_1789243938/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 483.0600752872194, + -2024.3445007866208, + 35.282165081256984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 483.0600752872194, + -2027.3445007866208, + 35.282165081256984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 483.0600752872194, + -2030.3445007866208, + 35.282165081256984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 483.0600752872194, + -2033.3445007866208, + 35.282165081256984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 483.0600752872194, + -2036.3445007866208, + 35.282165081256984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 483.0600752872194, + -2039.3445007866208, + 35.282165081256984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 483.0600752872194, + -2042.3445007866208, + 35.282165081256984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 483.0600752872194, + -2045.3445007866208, + 35.282165081256984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 483.0600752872194, + -2048.3445007866208, + 35.282165081256984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 483.0600752872194, + -2051.3445007866208, + 35.282165081256984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 483.0600752872194, + -2054.3445007866208, + 35.282165081256984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 483.0600752872194, + -2057.3445007866208, + 35.282165081256984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 483.0600752872194, + -2060.3445007866208, + 35.282165081256984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 483.0600752872194, + -2063.3445007866208, + 35.282165081256984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 483.0600752872194, + -2066.3445007866208, + 35.282165081256984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 483.0600752872194, + -2069.3445007866208, + 35.282165081256984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 483.0600752872194, + -2072.3445007866208, + 35.282165081256984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 483.0600752872194, + -2075.3445007866208, + 35.282165081256984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 483.0600752872194, + -2078.3445007866208, + 35.282165081256984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 483.0600752872194, + -2081.3445007866208, + 35.282165081256984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 483.0600752872194, + -2084.3445007866208, + 35.282165081256984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 483.0600752872194, + -2087.3445007866208, + 35.282165081256984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 483.0600752872194, + -2090.3445007866208, + 35.282165081256984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 483.0600752872194, + -2093.3445007866208, + 35.282165081256984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 483.0600752872194, + -2096.3445007866208, + 35.282165081256984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 483.0600752872194, + -2099.3445007866208, + 35.282165081256984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 483.0600752872194, + -2102.3445007866208, + 35.282165081256984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 483.0600752872194, + -2105.3445007866208, + 35.282165081256984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 483.0600752872194, + -2108.3445007866208, + 35.282165081256984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 483.0600752872194, + -2111.3445007866208, + 35.282165081256984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 483.0600752872194, + -2114.3445007866208, + 35.282165081256984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 483.0600752872194, + -2117.3445007866208, + 35.282165081256984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 483.0600752872194, + -2120.3445007866208, + 35.282165081256984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 483.0600752872194, + -2123.3445007866208, + 35.282165081256984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 483.0600752872194, + -2126.3445007866208, + 35.282165081256984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 483.0600752872194, + -2129.3445007866208, + 35.282165081256984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 483.0600752872194, + -2132.3445007866208, + 35.282165081256984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 483.0600752872194, + -2135.3445007866208, + 35.282165081256984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 483.0600752872194, + -2138.3445007866208, + 35.282165081256984 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 483.0600752872194, + -2138.3445007866208, + 35.282165081256984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 484.5600752872194, + -2140.942576997974, + 35.282165081256984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 486.0600752872194, + -2143.540653209327, + 35.282165081256984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 487.5600752872194, + -2146.13872942068, + 35.282165081256984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 489.0600752872194, + -2148.7368056320333, + 35.282165081256984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 490.5600752872194, + -2151.3348818433865, + 35.282165081256984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 492.0600752872194, + -2153.9329580547396, + 35.282165081256984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 493.5600752872194, + -2156.531034266093, + 35.282165081256984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 495.0600752872194, + -2159.129110477446, + 35.282165081256984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 496.5600752872194, + -2161.727186688799, + 35.282165081256984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 498.0600752872194, + -2164.325262900152, + 35.282165081256984 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965694 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 500.0, + -2184.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_23-15-0_619175679/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_23-15-0_619175679/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..aaa01c097b98809da8972a9edd39c54ba2308226 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_23-15-0_619175679/pose.jsonl @@ -0,0 +1,561 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2690.816142329651, + 998.4763355243947, + 25.56592283156607 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2689.316142329651, + 1001.0744117357481, + 25.56592283156607 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2687.816142329651, + 1003.6724879471014, + 25.56592283156607 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2686.316142329651, + 1006.2705641584548, + 25.56592283156607 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2684.816142329651, + 1008.8686403698082, + 25.56592283156607 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2683.316142329651, + 1011.4667165811616, + 25.56592283156607 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2681.816142329651, + 1014.0647927925149, + 25.56592283156607 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2680.316142329651, + 1016.6628690038683, + 25.56592283156607 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2678.816142329651, + 1019.2609452152217, + 25.56592283156607 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2677.316142329651, + 1021.859021426575, + 25.56592283156607 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2675.816142329651, + 1024.4570976379284, + 25.56592283156607 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2674.316142329651, + 1027.0551738492818, + 25.56592283156607 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2672.816142329651, + 1029.6532500606352, + 25.56592283156607 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2671.316142329651, + 1032.2513262719885, + 25.56592283156607 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2669.816142329651, + 1034.849402483342, + 25.56592283156607 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2668.316142329651, + 1037.4474786946953, + 25.56592283156607 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2666.816142329651, + 1040.0455549060487, + 25.56592283156607 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2665.316142329651, + 1042.643631117402, + 25.56592283156607 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2663.816142329651, + 1045.2417073287554, + 25.56592283156607 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2662.316142329651, + 1047.8397835401088, + 25.56592283156607 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2660.816142329651, + 1050.4378597514622, + 25.56592283156607 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2659.316142329651, + 1053.0359359628155, + 25.56592283156607 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2657.816142329651, + 1055.634012174169, + 25.56592283156607 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2656.316142329651, + 1058.2320883855223, + 25.56592283156607 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2654.816142329651, + 1060.8301645968756, + 25.56592283156607 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2653.316142329651, + 1063.428240808229, + 25.56592283156607 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2651.816142329651, + 1066.0263170195824, + 25.56592283156607 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2650.316142329651, + 1068.6243932309358, + 25.56592283156607 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2648.816142329651, + 1071.2224694422891, + 25.56592283156607 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2647.316142329651, + 1073.8205456536425, + 25.56592283156607 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2645.816142329651, + 1076.4186218649959, + 25.56592283156607 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2644.316142329651, + 1079.0166980763493, + 25.56592283156607 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2642.816142329651, + 1081.6147742877026, + 25.56592283156607 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2641.316142329651, + 1084.212850499056, + 25.56592283156607 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2639.816142329651, + 1086.8109267104094, + 25.56592283156607 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -2638.316142329651, + 1089.4090029217627, + 25.56592283156607 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -2638.316142329651, + 1089.4090029217627, + 25.56592283156607 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -2638.316142329651, + 1092.4090029217627, + 25.56592283156607 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -2638.316142329651, + 1095.4090029217627, + 25.56592283156607 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -2638.316142329651, + 1098.4090029217627, + 25.56592283156607 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -2638.316142329651, + 1101.4090029217627, + 25.56592283156607 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -2638.316142329651, + 1104.4090029217627, + 25.56592283156607 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2620.0, + 1144.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_23-15-25_1119667502/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_23-15-25_1119667502/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f6878996ef6b4aca02efbae812a2ebc053d98dff --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_23-15-25_1119667502/pose.jsonl @@ -0,0 +1,847 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1408.7555463577105, + 1619.7962227695734, + 24.238413260682638 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1411.3536225690639, + 1621.2962227695734, + 24.238413260682638 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1413.9516987804172, + 1622.7962227695734, + 24.238413260682638 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1416.5497749917706, + 1624.2962227695734, + 24.238413260682638 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1416.5497749917706, + 1624.2962227695734, + 24.238413260682638 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1416.5497749917706, + 1624.2962227695734, + 24.238413260682638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.570796326794906 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1416.5497749917706, + 1627.2962227695734, + 24.238413260682638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1416.5497749917706, + 1630.2962227695734, + 24.238413260682638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1416.5497749917706, + 1633.2962227695734, + 24.238413260682638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1416.5497749917706, + 1636.2962227695734, + 24.238413260682638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1416.5497749917706, + 1639.2962227695734, + 24.238413260682638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1416.5497749917706, + 1642.2962227695734, + 24.238413260682638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1416.5497749917706, + 1645.2962227695734, + 24.238413260682638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1416.5497749917706, + 1648.2962227695734, + 24.238413260682638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1416.5497749917706, + 1651.2962227695734, + 24.238413260682638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1416.5497749917706, + 1654.2962227695734, + 24.238413260682638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1416.5497749917706, + 1657.2962227695734, + 24.238413260682638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1416.5497749917706, + 1660.2962227695734, + 24.238413260682638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1416.5497749917706, + 1663.2962227695734, + 24.238413260682638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1416.5497749917706, + 1666.2962227695734, + 24.238413260682638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1416.5497749917706, + 1669.2962227695734, + 24.238413260682638 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1416.5497749917706, + 1669.2962227695734, + 24.238413260682638 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1416.5497749917706, + 1669.2962227695734, + 24.238413260682638 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1419.147851203124, + 1670.7962227695734, + 24.238413260682638 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1421.7459274144774, + 1672.2962227695734, + 24.238413260682638 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1424.3440036258307, + 1673.7962227695734, + 24.238413260682638 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1426.942079837184, + 1675.2962227695734, + 24.238413260682638 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1429.5401560485375, + 1676.7962227695734, + 24.238413260682638 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1432.1382322598909, + 1678.2962227695734, + 24.238413260682638 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1434.7363084712442, + 1679.7962227695734, + 24.238413260682638 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1437.3343846825976, + 1681.2962227695734, + 24.238413260682638 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1439.932460893951, + 1682.7962227695734, + 24.238413260682638 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1442.5305371053043, + 1684.2962227695734, + 24.238413260682638 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1445.1286133166577, + 1685.7962227695734, + 24.238413260682638 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1447.726689528011, + 1687.2962227695734, + 24.238413260682638 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1450.3247657393645, + 1688.7962227695734, + 24.238413260682638 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1452.9228419507178, + 1690.2962227695734, + 24.238413260682638 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1455.5209181620712, + 1691.7962227695734, + 24.238413260682638 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1458.1189943734246, + 1693.2962227695734, + 24.238413260682638 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1460.717070584778, + 1694.7962227695734, + 24.238413260682638 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1463.3151467961313, + 1696.2962227695734, + 24.238413260682638 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1465.9132230074847, + 1697.7962227695734, + 24.238413260682638 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1468.511299218838, + 1699.2962227695734, + 24.238413260682638 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1471.1093754301914, + 1700.7962227695734, + 24.238413260682638 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1473.7074516415448, + 1702.2962227695734, + 24.238413260682638 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1473.7074516415448, + 1702.2962227695734, + 24.238413260682638 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1476.7074516415448, + 1702.2962227695734, + 24.238413260682638 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1479.7074516415448, + 1702.2962227695734, + 24.238413260682638 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1482.7074516415448, + 1702.2962227695734, + 24.238413260682638 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1485.7074516415448, + 1702.2962227695734, + 24.238413260682638 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -1488.7074516415448, + 1702.2962227695734, + 24.238413260682638 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -1491.7074516415448, + 1702.2962227695734, + 24.238413260682638 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -1494.7074516415448, + 1702.2962227695734, + 24.238413260682638 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -1497.7074516415448, + 1702.2962227695734, + 24.238413260682638 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -1500.7074516415448, + 1702.2962227695734, + 24.238413260682638 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -1503.7074516415448, + 1702.2962227695734, + 24.238413260682638 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -1506.7074516415448, + 1702.2962227695734, + 24.238413260682638 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -1509.7074516415448, + 1702.2962227695734, + 24.238413260682638 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -1512.7074516415448, + 1702.2962227695734, + 24.238413260682638 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -1515.7074516415448, + 1702.2962227695734, + 24.238413260682638 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -1518.7074516415448, + 1702.2962227695734, + 24.238413260682638 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -1521.7074516415448, + 1702.2962227695734, + 24.238413260682638 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -1524.7074516415448, + 1702.2962227695734, + 24.238413260682638 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -1527.7074516415448, + 1702.2962227695734, + 24.238413260682638 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1552.0, + 1720.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_23-18-51_652942916/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_23-18-51_652942916/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c53a65926745dd02ef192a26af53cc36ab1fb269 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_23-18-51_652942916/pose.jsonl @@ -0,0 +1,509 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1029.7035962230616, + 411.17027283400614, + 19.42023627901647 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1026.7035962230616, + 411.17027283400614, + 19.42023627901647 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1023.7035962230616, + 411.17027283400614, + 19.42023627901647 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1020.7035962230616, + 411.17027283400614, + 19.42023627901647 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1017.7035962230616, + 411.17027283400614, + 19.42023627901647 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1014.7035962230616, + 411.17027283400614, + 19.42023627901647 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1011.7035962230616, + 411.17027283400614, + 19.42023627901647 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1008.7035962230616, + 411.17027283400614, + 19.42023627901647 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1005.7035962230616, + 411.17027283400614, + 19.42023627901647 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1002.7035962230616, + 411.17027283400614, + 19.42023627901647 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 999.7035962230616, + 411.17027283400614, + 19.42023627901647 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 996.7035962230616, + 411.17027283400614, + 19.42023627901647 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 993.7035962230616, + 411.17027283400614, + 19.42023627901647 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 990.7035962230616, + 411.17027283400614, + 19.42023627901647 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 987.7035962230616, + 411.17027283400614, + 19.42023627901647 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 984.7035962230616, + 411.17027283400614, + 19.42023627901647 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 981.7035962230616, + 411.17027283400614, + 19.42023627901647 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 978.7035962230616, + 411.17027283400614, + 19.42023627901647 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 975.7035962230616, + 411.17027283400614, + 19.42023627901647 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 972.7035962230616, + 411.17027283400614, + 19.42023627901647 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 972.7035962230616, + 411.17027283400614, + 19.42023627901647 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 970.1055200117082, + 409.67027283400614, + 19.42023627901647 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 967.5074438003548, + 408.17027283400614, + 19.42023627901647 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 964.9093675890015, + 406.67027283400614, + 19.42023627901647 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 962.3112913776481, + 405.17027283400614, + 19.42023627901647 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 959.7132151662947, + 403.67027283400614, + 19.42023627901647 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 957.1151389549414, + 402.17027283400614, + 19.42023627901647 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 954.517062743588, + 400.67027283400614, + 19.42023627901647 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 951.9189865322346, + 399.17027283400614, + 19.42023627901647 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 949.3209103208812, + 397.67027283400614, + 19.42023627901647 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 946.7228341095279, + 396.17027283400614, + 19.42023627901647 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 944.1247578981745, + 394.67027283400614, + 19.42023627901647 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 941.5266816868211, + 393.17027283400614, + 19.42023627901647 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 938.9286054754677, + 391.67027283400614, + 19.42023627901647 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 936.3305292641144, + 390.17027283400614, + 19.42023627901647 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 933.732453052761, + 388.67027283400614, + 19.42023627901647 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 931.1343768414076, + 387.17027283400614, + 19.42023627901647 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 928.5363006300543, + 385.67027283400614, + 19.42023627901647 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 876.0, + 372.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_23-19-54_1742853661/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_23-19-54_1742853661/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6f9401d4e57819a975caa2e2b120d635bd58f845 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_23-19-54_1742853661/pose.jsonl @@ -0,0 +1,561 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 182.0807846065564, + -2423.682132378471, + 30.230265922801735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 179.48270839520308, + -2425.182132378471, + 30.230265922801735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 176.88463218384976, + -2426.682132378471, + 30.230265922801735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 174.28655597249644, + -2428.182132378471, + 30.230265922801735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 171.68847976114313, + -2429.682132378471, + 30.230265922801735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 169.0904035497898, + -2431.182132378471, + 30.230265922801735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 166.4923273384365, + -2432.682132378471, + 30.230265922801735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 163.89425112708318, + -2434.182132378471, + 30.230265922801735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 161.29617491572986, + -2435.682132378471, + 30.230265922801735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 158.69809870437655, + -2437.182132378471, + 30.230265922801735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 156.10002249302323, + -2438.682132378471, + 30.230265922801735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 153.50194628166992, + -2440.182132378471, + 30.230265922801735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 150.9038700703166, + -2441.682132378471, + 30.230265922801735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 148.30579385896328, + -2443.182132378471, + 30.230265922801735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 145.70771764760997, + -2444.682132378471, + 30.230265922801735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 143.10964143625665, + -2446.182132378471, + 30.230265922801735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 140.51156522490334, + -2447.682132378471, + 30.230265922801735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 137.91348901355002, + -2449.182132378471, + 30.230265922801735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 135.3154128021967, + -2450.682132378471, + 30.230265922801735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 132.7173365908434, + -2452.182132378471, + 30.230265922801735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 130.11926037949007, + -2453.682132378471, + 30.230265922801735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 127.52118416813676, + -2455.182132378471, + 30.230265922801735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 124.92310795678344, + -2456.682132378471, + 30.230265922801735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 122.32503174543012, + -2458.182132378471, + 30.230265922801735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 119.72695553407681, + -2459.682132378471, + 30.230265922801735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 117.12887932272349, + -2461.182132378471, + 30.230265922801735 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 117.12887932272349, + -2461.182132378471, + 30.230265922801735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 115.62887932272349, + -2463.7802085898243, + 30.230265922801735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 114.12887932272349, + -2466.3782848011774, + 30.230265922801735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 112.62887932272349, + -2468.9763610125306, + 30.230265922801735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 111.12887932272349, + -2471.5744372238837, + 30.230265922801735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 109.62887932272349, + -2474.172513435237, + 30.230265922801735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 108.12887932272349, + -2476.77058964659, + 30.230265922801735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 106.62887932272349, + -2479.368665857943, + 30.230265922801735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 105.12887932272349, + -2481.9667420692963, + 30.230265922801735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 103.62887932272349, + -2484.5648182806494, + 30.230265922801735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 102.12887932272349, + -2487.1628944920026, + 30.230265922801735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 100.62887932272349, + -2489.7609707033557, + 30.230265922801735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 99.12887932272349, + -2492.359046914709, + 30.230265922801735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 97.62887932272349, + -2494.957123126062, + 30.230265922801735 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 97.62887932272349, + -2494.957123126062, + 30.230265922801735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915224 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 95.03080311137018, + -2496.457123126062, + 30.230265922801735 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915224 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 52.0, + -2532.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_23-24-32_1632381616/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_23-24-32_1632381616/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..24140510e7ef120cd137f8b76b337caa7a55b99b --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_23-24-32_1632381616/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3509.7446737249356, + -999.8841606345214, + 37.61287410680346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3508.2446737249356, + -997.2860844231682, + 37.61287410680346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3506.7446737249356, + -994.6880082118148, + 37.61287410680346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3505.2446737249356, + -992.0899320004614, + 37.61287410680346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3503.7446737249356, + -989.4918557891081, + 37.61287410680346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3502.2446737249356, + -986.8937795777547, + 37.61287410680346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3500.7446737249356, + -984.2957033664013, + 37.61287410680346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3499.2446737249356, + -981.6976271550479, + 37.61287410680346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 3497.7446737249356, + -979.0995509436946, + 37.61287410680346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 3496.2446737249356, + -976.5014747323412, + 37.61287410680346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 3494.7446737249356, + -973.9033985209878, + 37.61287410680346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 3493.2446737249356, + -971.3053223096344, + 37.61287410680346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 3491.7446737249356, + -968.7072460982811, + 37.61287410680346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 3490.2446737249356, + -966.1091698869277, + 37.61287410680346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 3488.7446737249356, + -963.5110936755743, + 37.61287410680346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 3487.2446737249356, + -960.913017464221, + 37.61287410680346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 3485.7446737249356, + -958.3149412528676, + 37.61287410680346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 3484.2446737249356, + -955.7168650415142, + 37.61287410680346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 3482.7446737249356, + -953.1187888301608, + 37.61287410680346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 3481.2446737249356, + -950.5207126188075, + 37.61287410680346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 3479.7446737249356, + -947.9226364074541, + 37.61287410680346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 3478.2446737249356, + -945.3245601961007, + 37.61287410680346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 3476.7446737249356, + -942.7264839847473, + 37.61287410680346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 3475.2446737249356, + -940.128407773394, + 37.61287410680346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 3473.7446737249356, + -937.5303315620406, + 37.61287410680346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 3472.2446737249356, + -934.9322553506872, + 37.61287410680346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 3470.7446737249356, + -932.3341791393339, + 37.61287410680346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 3469.2446737249356, + -929.7361029279805, + 37.61287410680346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 3467.7446737249356, + -927.1380267166271, + 37.61287410680346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 3466.2446737249356, + -924.5399505052737, + 37.61287410680346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 3464.7446737249356, + -921.9418742939204, + 37.61287410680346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 3463.2446737249356, + -919.343798082567, + 37.61287410680346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 3461.7446737249356, + -916.7457218712136, + 37.61287410680346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 3460.2446737249356, + -914.1476456598602, + 37.61287410680346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 3458.7446737249356, + -911.5495694485069, + 37.61287410680346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 3457.2446737249356, + -908.9514932371535, + 37.61287410680346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 3455.7446737249356, + -906.3534170258001, + 37.61287410680346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 3454.2446737249356, + -903.7553408144468, + 37.61287410680346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 3452.7446737249356, + -901.1572646030934, + 37.61287410680346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 3451.2446737249356, + -898.55918839174, + 37.61287410680346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 3449.7446737249356, + -895.9611121803866, + 37.61287410680346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 3448.2446737249356, + -893.3630359690333, + 37.61287410680346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 3446.7446737249356, + -890.7649597576799, + 37.61287410680346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 3445.2446737249356, + -888.1668835463265, + 37.61287410680346 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3428.0, + -864.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_23-31-49_1013825605/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_23-31-49_1013825605/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d6f47bf2e66adcb72b41d8ef3a6ae707c4ce6273 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_23-31-49_1013825605/pose.jsonl @@ -0,0 +1,67 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2992.4388357673947, + 1050.791908202971, + 39.20011502678385 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2995.036911978748, + 1052.291908202971, + 39.20011502678385 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2997.634988190101, + 1053.791908202971, + 39.20011502678385 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -3000.233064401454, + 1055.291908202971, + 39.20011502678385 + ], + "type": "stop", + "value": 0, + "yaw": 2.617993877991466 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -3156.0, + 1124.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_23-32-52_1140082830/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_23-32-52_1140082830/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4a6fc9e318f86fa7d68c3223800b8440ecc6e35d --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_23-32-52_1140082830/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2547.997351443114, + 1261.1798182396892, + 33.77286783310044 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2546.497351443114, + 1258.5817420283358, + 33.77286783310044 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2544.997351443114, + 1255.9836658169825, + 33.77286783310044 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2543.497351443114, + 1253.385589605629, + 33.77286783310044 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2541.997351443114, + 1250.7875133942757, + 33.77286783310044 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2540.497351443114, + 1248.1894371829223, + 33.77286783310044 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2538.997351443114, + 1245.591360971569, + 33.77286783310044 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2537.497351443114, + 1242.9932847602156, + 33.77286783310044 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2535.997351443114, + 1240.3952085488622, + 33.77286783310044 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2534.497351443114, + 1237.7971323375089, + 33.77286783310044 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2532.997351443114, + 1235.1990561261555, + 33.77286783310044 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2531.497351443114, + 1232.600979914802, + 33.77286783310044 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2529.997351443114, + 1230.0029037034487, + 33.77286783310044 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2528.497351443114, + 1227.4048274920954, + 33.77286783310044 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2526.997351443114, + 1224.806751280742, + 33.77286783310044 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2525.497351443114, + 1222.2086750693886, + 33.77286783310044 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2523.997351443114, + 1219.6105988580352, + 33.77286783310044 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2522.497351443114, + 1217.0125226466819, + 33.77286783310044 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2520.997351443114, + 1214.4144464353285, + 33.77286783310044 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2519.497351443114, + 1211.8163702239751, + 33.77286783310044 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2517.997351443114, + 1209.2182940126218, + 33.77286783310044 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2516.497351443114, + 1206.6202178012684, + 33.77286783310044 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2514.997351443114, + 1204.022141589915, + 33.77286783310044 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2513.497351443114, + 1201.4240653785616, + 33.77286783310044 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2511.997351443114, + 1198.8259891672083, + 33.77286783310044 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2510.497351443114, + 1196.227912955855, + 33.77286783310044 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2508.997351443114, + 1193.6298367445015, + 33.77286783310044 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2507.497351443114, + 1191.0317605331481, + 33.77286783310044 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2505.997351443114, + 1188.4336843217948, + 33.77286783310044 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2504.497351443114, + 1185.8356081104414, + 33.77286783310044 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2504.497351443114, + 1185.8356081104414, + 33.77286783310044 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2501.899275231761, + 1184.3356081104414, + 33.77286783310044 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2499.3011990204077, + 1182.8356081104414, + 33.77286783310044 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2496.7031228090545, + 1181.3356081104414, + 33.77286783310044 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2494.1050465977014, + 1179.8356081104414, + 33.77286783310044 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -2491.5069703863483, + 1178.3356081104414, + 33.77286783310044 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -2488.908894174995, + 1176.8356081104414, + 33.77286783310044 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -2486.310817963642, + 1175.3356081104414, + 33.77286783310044 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -2483.712741752289, + 1173.8356081104414, + 33.77286783310044 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -2481.1146655409357, + 1172.3356081104414, + 33.77286783310044 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -2478.5165893295825, + 1170.8356081104414, + 33.77286783310044 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -2475.9185131182294, + 1169.3356081104414, + 33.77286783310044 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -2473.3204369068762, + 1167.8356081104414, + 33.77286783310044 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -2470.722360695523, + 1166.3356081104414, + 33.77286783310044 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -2468.12428448417, + 1164.8356081104414, + 33.77286783310044 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -2465.526208272817, + 1163.3356081104414, + 33.77286783310044 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -2462.9281320614637, + 1161.8356081104414, + 33.77286783310044 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -2460.3300558501105, + 1160.3356081104414, + 33.77286783310044 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755983272 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2436.0, + 1136.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_23-4-26_94097161/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_23-4-26_94097161/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d33e0a8ec4a1c1b965907d89d0ac93143c01452e --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_23-4-26_94097161/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -802.0657036082753, + 726.3331779797622, + 34.34019510760571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -802.0657036082753, + 729.3331779797622, + 34.34019510760571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -802.0657036082753, + 732.3331779797622, + 34.34019510760571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -802.0657036082753, + 735.3331779797622, + 34.34019510760571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -802.0657036082753, + 738.3331779797622, + 34.34019510760571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -802.0657036082753, + 741.3331779797622, + 34.34019510760571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -802.0657036082753, + 744.3331779797622, + 34.34019510760571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -802.0657036082753, + 747.3331779797622, + 34.34019510760571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -802.0657036082753, + 750.3331779797622, + 34.34019510760571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -802.0657036082753, + 753.3331779797622, + 34.34019510760571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -802.0657036082753, + 756.3331779797622, + 34.34019510760571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -802.0657036082753, + 759.3331779797622, + 34.34019510760571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -802.0657036082753, + 762.3331779797622, + 34.34019510760571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -802.0657036082753, + 765.3331779797622, + 34.34019510760571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -802.0657036082753, + 768.3331779797622, + 34.34019510760571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -802.0657036082753, + 771.3331779797622, + 34.34019510760571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -802.0657036082753, + 774.3331779797622, + 34.34019510760571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -802.0657036082753, + 777.3331779797622, + 34.34019510760571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -802.0657036082753, + 780.3331779797622, + 34.34019510760571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -802.0657036082753, + 783.3331779797622, + 34.34019510760571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -802.0657036082753, + 786.3331779797622, + 34.34019510760571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -802.0657036082753, + 789.3331779797622, + 34.34019510760571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -802.0657036082753, + 792.3331779797622, + 34.34019510760571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -802.0657036082753, + 795.3331779797622, + 34.34019510760571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -802.0657036082753, + 798.3331779797622, + 34.34019510760571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -802.0657036082753, + 801.3331779797622, + 34.34019510760571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -802.0657036082753, + 804.3331779797622, + 34.34019510760571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -802.0657036082753, + 807.3331779797622, + 34.34019510760571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -802.0657036082753, + 810.3331779797622, + 34.34019510760571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -802.0657036082753, + 813.3331779797622, + 34.34019510760571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -802.0657036082753, + 816.3331779797622, + 34.34019510760571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -802.0657036082753, + 819.3331779797622, + 34.34019510760571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -802.0657036082753, + 822.3331779797622, + 34.34019510760571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -802.0657036082753, + 825.3331779797622, + 34.34019510760571 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -802.0657036082753, + 825.3331779797622, + 34.34019510760571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -803.5657036082753, + 827.9312541911156, + 34.34019510760571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -805.0657036082753, + 830.529330402469, + 34.34019510760571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -806.5657036082753, + 833.1274066138224, + 34.34019510760571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -808.0657036082753, + 835.7254828251757, + 34.34019510760571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -809.5657036082753, + 838.3235590365291, + 34.34019510760571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -811.0657036082753, + 840.9216352478825, + 34.34019510760571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -812.5657036082753, + 843.5197114592359, + 34.34019510760571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -814.0657036082753, + 846.1177876705892, + 34.34019510760571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -815.5657036082753, + 848.7158638819426, + 34.34019510760571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -817.0657036082753, + 851.313940093296, + 34.34019510760571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -818.5657036082753, + 853.9120163046493, + 34.34019510760571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -820.0657036082753, + 856.5100925160027, + 34.34019510760571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -821.5657036082753, + 859.1081687273561, + 34.34019510760571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -823.0657036082753, + 861.7062449387095, + 34.34019510760571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -824.5657036082753, + 864.3043211500628, + 34.34019510760571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -826.0657036082753, + 866.9023973614162, + 34.34019510760571 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -832.0, + 892.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_23-41-27_148420696/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_23-41-27_148420696/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a9f13345e1a4dbec049c5c8774d63aa9e0df85e3 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_23-41-27_148420696/pose.jsonl @@ -0,0 +1,847 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3471.270195608494, + 2388.319852867009, + 16.101055792673375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3472.770195608494, + 2385.721776655656, + 16.101055792673375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3474.270195608494, + 2383.123700444303, + 16.101055792673375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3475.770195608494, + 2380.5256242329497, + 16.101055792673375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3477.270195608494, + 2377.9275480215965, + 16.101055792673375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3478.770195608494, + 2375.3294718102434, + 16.101055792673375 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3478.770195608494, + 2375.3294718102434, + 16.101055792673375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948681 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3478.770195608494, + 2372.3294718102434, + 16.101055792673375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 3478.770195608494, + 2369.3294718102434, + 16.101055792673375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 3478.770195608494, + 2366.3294718102434, + 16.101055792673375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 3478.770195608494, + 2363.3294718102434, + 16.101055792673375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 3478.770195608494, + 2360.3294718102434, + 16.101055792673375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 3478.770195608494, + 2357.3294718102434, + 16.101055792673375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 3478.770195608494, + 2354.3294718102434, + 16.101055792673375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 3478.770195608494, + 2351.3294718102434, + 16.101055792673375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 3478.770195608494, + 2348.3294718102434, + 16.101055792673375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 3478.770195608494, + 2345.3294718102434, + 16.101055792673375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 3478.770195608494, + 2342.3294718102434, + 16.101055792673375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 3478.770195608494, + 2339.3294718102434, + 16.101055792673375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 3478.770195608494, + 2336.3294718102434, + 16.101055792673375 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 3478.770195608494, + 2336.3294718102434, + 16.101055792673375 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 3478.770195608494, + 2336.3294718102434, + 16.101055792673375 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 3481.368271819847, + 2334.8294718102434, + 16.101055792673375 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 3483.9663480312, + 2333.3294718102434, + 16.101055792673375 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 3483.9663480312, + 2333.3294718102434, + 16.101055792673375 + ], + "type": "turn right", + "value": 30, + "yaw": -1.047197551196626 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 3483.9663480312, + 2333.3294718102434, + 16.101055792673375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.570796326794925 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 3483.9663480312, + 2330.3294718102434, + 16.101055792673375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 3483.9663480312, + 2327.3294718102434, + 16.101055792673375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 3483.9663480312, + 2324.3294718102434, + 16.101055792673375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 3483.9663480312, + 2321.3294718102434, + 16.101055792673375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 3483.9663480312, + 2318.3294718102434, + 16.101055792673375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 3483.9663480312, + 2315.3294718102434, + 16.101055792673375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 3483.9663480312, + 2312.3294718102434, + 16.101055792673375 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 3483.9663480312, + 2312.3294718102434, + 16.101055792673375 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 3483.9663480312, + 2312.3294718102434, + 16.101055792673375 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 3486.5644242425533, + 2310.8294718102434, + 16.101055792673375 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 3489.1625004539064, + 2309.3294718102434, + 16.101055792673375 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 3491.7605766652596, + 2307.8294718102434, + 16.101055792673375 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 3494.3586528766127, + 2306.3294718102434, + 16.101055792673375 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 3496.956729087966, + 2304.8294718102434, + 16.101055792673375 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 3499.554805299319, + 2303.3294718102434, + 16.101055792673375 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 3499.554805299319, + 2303.3294718102434, + 16.101055792673375 + ], + "type": "go straight", + "value": 3, + "yaw": -2.842170943040401e-14 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 3502.554805299319, + 2303.3294718102434, + 16.101055792673375 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 3505.554805299319, + 2303.3294718102434, + 16.101055792673375 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 3508.554805299319, + 2303.3294718102434, + 16.101055792673375 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 3511.554805299319, + 2303.3294718102434, + 16.101055792673375 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 3514.554805299319, + 2303.3294718102434, + 16.101055792673375 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 3517.554805299319, + 2303.3294718102434, + 16.101055792673375 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 3520.554805299319, + 2303.3294718102434, + 16.101055792673375 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 3523.554805299319, + 2303.3294718102434, + 16.101055792673375 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 3526.554805299319, + 2303.3294718102434, + 16.101055792673375 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 3529.554805299319, + 2303.3294718102434, + 16.101055792673375 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 3532.554805299319, + 2303.3294718102434, + 16.101055792673375 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 3535.554805299319, + 2303.3294718102434, + 16.101055792673375 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 3538.554805299319, + 2303.3294718102434, + 16.101055792673375 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 3541.554805299319, + 2303.3294718102434, + 16.101055792673375 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 3544.554805299319, + 2303.3294718102434, + 16.101055792673375 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 3547.554805299319, + 2303.3294718102434, + 16.101055792673375 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 3550.554805299319, + 2303.3294718102434, + 16.101055792673375 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 3553.554805299319, + 2303.3294718102434, + 16.101055792673375 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 3556.554805299319, + 2303.3294718102434, + 16.101055792673375 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 3559.554805299319, + 2303.3294718102434, + 16.101055792673375 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 3562.554805299319, + 2303.3294718102434, + 16.101055792673375 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 3565.554805299319, + 2303.3294718102434, + 16.101055792673375 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3592.0, + 2280.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_23-7-14_358625421/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_23-7-14_358625421/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..115afba543effcc266bb985959678f301b22c1cd --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_23-7-14_358625421/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4846.547460453452, + 1250.633733593511, + 22.50176068530714 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4848.047460453452, + 1248.0356573821575, + 22.50176068530714 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4849.547460453452, + 1245.4375811708042, + 22.50176068530714 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4851.047460453452, + 1242.8395049594508, + 22.50176068530714 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4852.547460453452, + 1240.2414287480974, + 22.50176068530714 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4854.047460453452, + 1237.643352536744, + 22.50176068530714 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4855.547460453452, + 1235.0452763253907, + 22.50176068530714 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4857.047460453452, + 1232.4472001140373, + 22.50176068530714 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4858.547460453452, + 1229.849123902684, + 22.50176068530714 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4860.047460453452, + 1227.2510476913305, + 22.50176068530714 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4861.547460453452, + 1224.6529714799772, + 22.50176068530714 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4863.047460453452, + 1222.0548952686238, + 22.50176068530714 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4864.547460453452, + 1219.4568190572704, + 22.50176068530714 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4866.047460453452, + 1216.858742845917, + 22.50176068530714 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4867.547460453452, + 1214.2606666345637, + 22.50176068530714 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4869.047460453452, + 1211.6625904232103, + 22.50176068530714 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 4870.547460453452, + 1209.064514211857, + 22.50176068530714 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 4872.047460453452, + 1206.4664380005036, + 22.50176068530714 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 4873.547460453452, + 1203.8683617891502, + 22.50176068530714 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 4875.047460453452, + 1201.2702855777968, + 22.50176068530714 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 4876.547460453452, + 1198.6722093664434, + 22.50176068530714 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 4878.047460453452, + 1196.07413315509, + 22.50176068530714 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 4879.547460453452, + 1193.4760569437367, + 22.50176068530714 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 4881.047460453452, + 1190.8779807323833, + 22.50176068530714 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 4882.547460453452, + 1188.27990452103, + 22.50176068530714 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 4884.047460453452, + 1185.6818283096766, + 22.50176068530714 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 4885.547460453452, + 1183.0837520983232, + 22.50176068530714 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 4887.047460453452, + 1180.4856758869698, + 22.50176068530714 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 4888.547460453452, + 1177.8875996756165, + 22.50176068530714 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 4890.047460453452, + 1175.289523464263, + 22.50176068530714 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 4891.547460453452, + 1172.6914472529097, + 22.50176068530714 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 4893.047460453452, + 1170.0933710415563, + 22.50176068530714 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 4894.547460453452, + 1167.495294830203, + 22.50176068530714 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 4896.047460453452, + 1164.8972186188496, + 22.50176068530714 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 4897.547460453452, + 1162.2991424074962, + 22.50176068530714 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 4899.047460453452, + 1159.7010661961428, + 22.50176068530714 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 4900.547460453452, + 1157.1029899847895, + 22.50176068530714 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 4902.047460453452, + 1154.504913773436, + 22.50176068530714 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 4903.547460453452, + 1151.9068375620827, + 22.50176068530714 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 4905.047460453452, + 1149.3087613507294, + 22.50176068530714 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 4906.547460453452, + 1146.710685139376, + 22.50176068530714 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 4908.047460453452, + 1144.1126089280226, + 22.50176068530714 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 4909.547460453452, + 1141.5145327166692, + 22.50176068530714 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 4911.047460453452, + 1138.9164565053159, + 22.50176068530714 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 4912.547460453452, + 1136.3183802939625, + 22.50176068530714 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 4914.047460453452, + 1133.7203040826091, + 22.50176068530714 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 4915.547460453452, + 1131.1222278712557, + 22.50176068530714 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 4917.047460453452, + 1128.5241516599024, + 22.50176068530714 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 4917.047460453452, + 1128.5241516599024, + 22.50176068530714 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 4917.047460453452, + 1125.5241516599024, + 22.50176068530714 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 4917.047460453452, + 1122.5241516599024, + 22.50176068530714 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 4917.047460453452, + 1119.5241516599024, + 22.50176068530714 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 4917.047460453452, + 1116.5241516599024, + 22.50176068530714 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4924.0, + 1100.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_23-8-20_298965069/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_23-8-20_298965069/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8725e6004524db737633bfaeafffd87f7e0f0038 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_23-8-20_298965069/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4081.226621871089, + 2008.593670348299, + 21.744463275489892 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4081.226621871089, + 2011.593670348299, + 21.744463275489892 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4081.226621871089, + 2014.593670348299, + 21.744463275489892 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4081.226621871089, + 2017.593670348299, + 21.744463275489892 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4081.226621871089, + 2020.593670348299, + 21.744463275489892 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4081.226621871089, + 2023.593670348299, + 21.744463275489892 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4081.226621871089, + 2026.593670348299, + 21.744463275489892 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4081.226621871089, + 2029.593670348299, + 21.744463275489892 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4081.226621871089, + 2032.593670348299, + 21.744463275489892 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4081.226621871089, + 2035.593670348299, + 21.744463275489892 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4081.226621871089, + 2038.593670348299, + 21.744463275489892 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4081.226621871089, + 2041.593670348299, + 21.744463275489892 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4081.226621871089, + 2044.593670348299, + 21.744463275489892 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4081.226621871089, + 2047.593670348299, + 21.744463275489892 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4081.226621871089, + 2050.593670348299, + 21.744463275489892 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4081.226621871089, + 2053.593670348299, + 21.744463275489892 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 4081.226621871089, + 2056.593670348299, + 21.744463275489892 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 4081.226621871089, + 2059.593670348299, + 21.744463275489892 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 4081.226621871089, + 2062.593670348299, + 21.744463275489892 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 4081.226621871089, + 2065.593670348299, + 21.744463275489892 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 4081.226621871089, + 2068.593670348299, + 21.744463275489892 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 4081.226621871089, + 2071.593670348299, + 21.744463275489892 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 4081.226621871089, + 2074.593670348299, + 21.744463275489892 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 4081.226621871089, + 2077.593670348299, + 21.744463275489892 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 4081.226621871089, + 2080.593670348299, + 21.744463275489892 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 4081.226621871089, + 2083.593670348299, + 21.744463275489892 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 4081.226621871089, + 2086.593670348299, + 21.744463275489892 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 4081.226621871089, + 2089.593670348299, + 21.744463275489892 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 4081.226621871089, + 2092.593670348299, + 21.744463275489892 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 4081.226621871089, + 2095.593670348299, + 21.744463275489892 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 4081.226621871089, + 2098.593670348299, + 21.744463275489892 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 4081.226621871089, + 2101.593670348299, + 21.744463275489892 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 4081.226621871089, + 2104.593670348299, + 21.744463275489892 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 4081.226621871089, + 2107.593670348299, + 21.744463275489892 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 4081.226621871089, + 2110.593670348299, + 21.744463275489892 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 4081.226621871089, + 2113.593670348299, + 21.744463275489892 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 4081.226621871089, + 2113.593670348299, + 21.744463275489892 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 4082.726621871089, + 2116.191746559652, + 21.744463275489892 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 4084.226621871089, + 2118.789822771005, + 21.744463275489892 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 4085.726621871089, + 2121.3878989823584, + 21.744463275489892 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 4087.226621871089, + 2123.9859751937115, + 21.744463275489892 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 4088.726621871089, + 2126.5840514050647, + 21.744463275489892 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 4090.226621871089, + 2129.182127616418, + 21.744463275489892 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 4091.726621871089, + 2131.780203827771, + 21.744463275489892 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 4093.226621871089, + 2134.378280039124, + 21.744463275489892 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965694 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4096.0, + 2164.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_3-11-35_2033669086/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_3-11-35_2033669086/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a4f5e960467ebd0733b7b53c9a42d82fc7f626fc --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_3-11-35_2033669086/pose.jsonl @@ -0,0 +1,145 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1117.4837246435586, + -81.7679395103482, + 19.71084169884795 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1114.4837246435586, + -81.7679395103482, + 19.71084169884795 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1111.4837246435586, + -81.7679395103482, + 19.71084169884795 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1108.4837246435586, + -81.7679395103482, + 19.71084169884795 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1105.4837246435586, + -81.7679395103482, + 19.71084169884795 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1102.4837246435586, + -81.7679395103482, + 19.71084169884795 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1102.4837246435586, + -81.7679395103482, + 19.71084169884795 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1102.4837246435586, + -81.7679395103482, + 19.71084169884795 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1100.9837246435586, + -84.36601572170152, + 19.71084169884795 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1099.4837246435586, + -86.96409193305483, + 19.71084169884795 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -960.0, + -132.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_3-12-38_1671735990/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_3-12-38_1671735990/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7c0e398c69198c09bcd15156eb338a7c30f50753 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_3-12-38_1671735990/pose.jsonl @@ -0,0 +1,444 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2353.7640246371684, + -2396.942023318767, + 23.72204112758553 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2356.3621008485215, + -2395.442023318767, + 23.72204112758553 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2358.9601770598747, + -2393.942023318767, + 23.72204112758553 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2361.558253271228, + -2392.442023318767, + 23.72204112758553 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2364.156329482581, + -2390.942023318767, + 23.72204112758553 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2366.754405693934, + -2389.442023318767, + 23.72204112758553 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2369.3524819052873, + -2387.942023318767, + 23.72204112758553 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2371.9505581166404, + -2386.442023318767, + 23.72204112758553 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2374.5486343279936, + -2384.942023318767, + 23.72204112758553 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2377.1467105393467, + -2383.442023318767, + 23.72204112758553 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2379.7447867507, + -2381.942023318767, + 23.72204112758553 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2382.342862962053, + -2380.442023318767, + 23.72204112758553 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2384.940939173406, + -2378.942023318767, + 23.72204112758553 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2387.5390153847593, + -2377.442023318767, + 23.72204112758553 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2390.1370915961124, + -2375.942023318767, + 23.72204112758553 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2392.7351678074656, + -2374.442023318767, + 23.72204112758553 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2395.3332440188187, + -2372.942023318767, + 23.72204112758553 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2397.931320230172, + -2371.442023318767, + 23.72204112758553 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2400.529396441525, + -2369.942023318767, + 23.72204112758553 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2403.127472652878, + -2368.442023318767, + 23.72204112758553 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2405.7255488642313, + -2366.942023318767, + 23.72204112758553 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2408.3236250755845, + -2365.442023318767, + 23.72204112758553 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2410.9217012869376, + -2363.942023318767, + 23.72204112758553 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2413.5197774982908, + -2362.442023318767, + 23.72204112758553 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2413.5197774982908, + -2362.442023318767, + 23.72204112758553 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535897647 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2416.5197774982908, + -2362.442023318767, + 23.72204112758553 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2419.5197774982908, + -2362.442023318767, + 23.72204112758553 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2422.5197774982908, + -2362.442023318767, + 23.72204112758553 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2425.5197774982908, + -2362.442023318767, + 23.72204112758553 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2428.5197774982908, + -2362.442023318767, + 23.72204112758553 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2431.5197774982908, + -2362.442023318767, + 23.72204112758553 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2431.5197774982908, + -2362.442023318767, + 23.72204112758553 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2434.117853709644, + -2360.942023318767, + 23.72204112758553 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2492.0, + -2336.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_3-14-57_1384095820/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_3-14-57_1384095820/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7555372ca2d15064730ba556aec899f01e38038d --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_3-14-57_1384095820/pose.jsonl @@ -0,0 +1,509 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2208.763981370521, + 2110.326208005399, + 36.423902716634174 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2205.763981370521, + 2110.326208005399, + 36.423902716634174 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2202.763981370521, + 2110.326208005399, + 36.423902716634174 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2199.763981370521, + 2110.326208005399, + 36.423902716634174 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2196.763981370521, + 2110.326208005399, + 36.423902716634174 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2193.763981370521, + 2110.326208005399, + 36.423902716634174 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2190.763981370521, + 2110.326208005399, + 36.423902716634174 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2187.763981370521, + 2110.326208005399, + 36.423902716634174 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2184.763981370521, + 2110.326208005399, + 36.423902716634174 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2181.763981370521, + 2110.326208005399, + 36.423902716634174 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2178.763981370521, + 2110.326208005399, + 36.423902716634174 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2175.763981370521, + 2110.326208005399, + 36.423902716634174 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2172.763981370521, + 2110.326208005399, + 36.423902716634174 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2169.763981370521, + 2110.326208005399, + 36.423902716634174 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2166.763981370521, + 2110.326208005399, + 36.423902716634174 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2163.763981370521, + 2110.326208005399, + 36.423902716634174 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2160.763981370521, + 2110.326208005399, + 36.423902716634174 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2160.763981370521, + 2110.326208005399, + 36.423902716634174 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2158.165905159168, + 2108.826208005399, + 36.423902716634174 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2155.5678289478146, + 2107.326208005399, + 36.423902716634174 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2152.9697527364615, + 2105.826208005399, + 36.423902716634174 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2150.3716765251083, + 2104.326208005399, + 36.423902716634174 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2147.773600313755, + 2102.826208005399, + 36.423902716634174 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2145.175524102402, + 2101.326208005399, + 36.423902716634174 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2142.577447891049, + 2099.826208005399, + 36.423902716634174 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2139.9793716796958, + 2098.326208005399, + 36.423902716634174 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2137.3812954683426, + 2096.826208005399, + 36.423902716634174 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2134.7832192569895, + 2095.326208005399, + 36.423902716634174 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2132.1851430456363, + 2093.826208005399, + 36.423902716634174 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2129.587066834283, + 2092.326208005399, + 36.423902716634174 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2126.98899062293, + 2090.826208005399, + 36.423902716634174 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2124.390914411577, + 2089.326208005399, + 36.423902716634174 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2121.7928382002237, + 2087.826208005399, + 36.423902716634174 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2119.1947619888706, + 2086.326208005399, + 36.423902716634174 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2116.5966857775175, + 2084.826208005399, + 36.423902716634174 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -2113.9986095661643, + 2083.326208005399, + 36.423902716634174 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -2111.400533354811, + 2081.826208005399, + 36.423902716634174 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -2108.802457143458, + 2080.326208005399, + 36.423902716634174 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755983272 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2060.0, + 2068.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_3-19-48_1326247643/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_3-19-48_1326247643/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2ec9a23b3fdfc2d50e79b8649a028d076292f588 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_3-19-48_1326247643/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 554.5170774581275, + -1598.9027358217313, + 31.81022103951639 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 551.9190012467741, + -1597.4027358217313, + 31.81022103951639 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 549.3209250354207, + -1595.9027358217313, + 31.81022103951639 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 546.7228488240673, + -1594.4027358217313, + 31.81022103951639 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 544.124772612714, + -1592.9027358217313, + 31.81022103951639 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 544.124772612714, + -1592.9027358217313, + 31.81022103951639 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 542.624772612714, + -1590.304659610378, + 31.81022103951639 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 541.124772612714, + -1587.7065833990246, + 31.81022103951639 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 539.624772612714, + -1585.1085071876712, + 31.81022103951639 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 538.124772612714, + -1582.5104309763178, + 31.81022103951639 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 536.624772612714, + -1579.9123547649644, + 31.81022103951639 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 535.124772612714, + -1577.314278553611, + 31.81022103951639 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 533.624772612714, + -1574.7162023422577, + 31.81022103951639 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 532.124772612714, + -1572.1181261309043, + 31.81022103951639 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 530.624772612714, + -1569.520049919551, + 31.81022103951639 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 529.124772612714, + -1566.9219737081976, + 31.81022103951639 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 527.624772612714, + -1564.3238974968442, + 31.81022103951639 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 526.124772612714, + -1561.7258212854908, + 31.81022103951639 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 524.624772612714, + -1559.1277450741375, + 31.81022103951639 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 523.124772612714, + -1556.529668862784, + 31.81022103951639 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 521.624772612714, + -1553.9315926514307, + 31.81022103951639 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 520.124772612714, + -1551.3335164400773, + 31.81022103951639 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 518.624772612714, + -1548.735440228724, + 31.81022103951639 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 517.124772612714, + -1546.1373640173706, + 31.81022103951639 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 515.624772612714, + -1543.5392878060172, + 31.81022103951639 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 514.124772612714, + -1540.9412115946639, + 31.81022103951639 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 512.624772612714, + -1538.3431353833105, + 31.81022103951639 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 512.624772612714, + -1538.3431353833105, + 31.81022103951639 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 510.02669640136065, + -1536.8431353833105, + 31.81022103951639 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 507.42862019000734, + -1535.3431353833105, + 31.81022103951639 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 504.830543978654, + -1533.8431353833105, + 31.81022103951639 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 502.2324677673007, + -1532.3431353833105, + 31.81022103951639 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 499.6343915559474, + -1530.8431353833105, + 31.81022103951639 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 497.0363153445941, + -1529.3431353833105, + 31.81022103951639 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 494.43823913324076, + -1527.8431353833105, + 31.81022103951639 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 491.84016292188744, + -1526.3431353833105, + 31.81022103951639 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 489.2420867105341, + -1524.8431353833105, + 31.81022103951639 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 486.6440104991808, + -1523.3431353833105, + 31.81022103951639 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 484.0459342878275, + -1521.8431353833105, + 31.81022103951639 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 481.4478580764742, + -1520.3431353833105, + 31.81022103951639 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 481.4478580764742, + -1520.3431353833105, + 31.81022103951639 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 478.4478580764742, + -1520.3431353833105, + 31.81022103951639 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 475.4478580764742, + -1520.3431353833105, + 31.81022103951639 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 472.4478580764742, + -1520.3431353833105, + 31.81022103951639 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 469.4478580764742, + -1520.3431353833105, + 31.81022103951639 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 466.4478580764742, + -1520.3431353833105, + 31.81022103951639 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 463.4478580764742, + -1520.3431353833105, + 31.81022103951639 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 460.4478580764742, + -1520.3431353833105, + 31.81022103951639 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 432.0, + -1496.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_3-2-43_1287859999/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_3-2-43_1287859999/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2a20bc7140557e0dfebe92293cec16ecdfca826e --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_3-2-43_1287859999/pose.jsonl @@ -0,0 +1,509 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2889.494760803251, + 1298.108755907032, + 17.496135273337103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2889.494760803251, + 1301.108755907032, + 17.496135273337103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2889.494760803251, + 1304.108755907032, + 17.496135273337103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2889.494760803251, + 1307.108755907032, + 17.496135273337103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2889.494760803251, + 1310.108755907032, + 17.496135273337103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2889.494760803251, + 1313.108755907032, + 17.496135273337103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2889.494760803251, + 1316.108755907032, + 17.496135273337103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2889.494760803251, + 1319.108755907032, + 17.496135273337103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2889.494760803251, + 1322.108755907032, + 17.496135273337103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2889.494760803251, + 1325.108755907032, + 17.496135273337103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2889.494760803251, + 1328.108755907032, + 17.496135273337103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2889.494760803251, + 1331.108755907032, + 17.496135273337103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2889.494760803251, + 1334.108755907032, + 17.496135273337103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2889.494760803251, + 1337.108755907032, + 17.496135273337103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2889.494760803251, + 1340.108755907032, + 17.496135273337103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2889.494760803251, + 1343.108755907032, + 17.496135273337103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2889.494760803251, + 1346.108755907032, + 17.496135273337103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2889.494760803251, + 1349.108755907032, + 17.496135273337103 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2889.494760803251, + 1349.108755907032, + 17.496135273337103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2887.994760803251, + 1351.7068321183854, + 17.496135273337103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2886.494760803251, + 1354.3049083297387, + 17.496135273337103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2884.994760803251, + 1356.902984541092, + 17.496135273337103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2883.494760803251, + 1359.5010607524455, + 17.496135273337103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2881.994760803251, + 1362.0991369637989, + 17.496135273337103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2880.494760803251, + 1364.6972131751522, + 17.496135273337103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2878.994760803251, + 1367.2952893865056, + 17.496135273337103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2877.494760803251, + 1369.893365597859, + 17.496135273337103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2875.994760803251, + 1372.4914418092123, + 17.496135273337103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2874.494760803251, + 1375.0895180205657, + 17.496135273337103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2872.994760803251, + 1377.687594231919, + 17.496135273337103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2871.494760803251, + 1380.2856704432725, + 17.496135273337103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2869.994760803251, + 1382.8837466546258, + 17.496135273337103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2868.494760803251, + 1385.4818228659792, + 17.496135273337103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2866.994760803251, + 1388.0798990773326, + 17.496135273337103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2865.494760803251, + 1390.677975288686, + 17.496135273337103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -2863.994760803251, + 1393.2760515000393, + 17.496135273337103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -2862.494760803251, + 1395.8741277113927, + 17.496135273337103 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -2860.994760803251, + 1398.472203922746, + 17.496135273337103 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2848.0, + 1460.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_3-20-51_1663080928/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_3-20-51_1663080928/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..73487c82d58f8daeb69c34267d045ac39dc890c0 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_3-20-51_1663080928/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1294.659879772867, + -2759.086947092097, + 15.225628434558264 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1291.659879772867, + -2759.086947092097, + 15.225628434558264 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1288.659879772867, + -2759.086947092097, + 15.225628434558264 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1285.659879772867, + -2759.086947092097, + 15.225628434558264 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1282.659879772867, + -2759.086947092097, + 15.225628434558264 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1279.659879772867, + -2759.086947092097, + 15.225628434558264 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1276.659879772867, + -2759.086947092097, + 15.225628434558264 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1273.659879772867, + -2759.086947092097, + 15.225628434558264 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1270.659879772867, + -2759.086947092097, + 15.225628434558264 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1267.659879772867, + -2759.086947092097, + 15.225628434558264 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1264.659879772867, + -2759.086947092097, + 15.225628434558264 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1261.659879772867, + -2759.086947092097, + 15.225628434558264 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1258.659879772867, + -2759.086947092097, + 15.225628434558264 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1255.659879772867, + -2759.086947092097, + 15.225628434558264 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1252.659879772867, + -2759.086947092097, + 15.225628434558264 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1249.659879772867, + -2759.086947092097, + 15.225628434558264 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1246.659879772867, + -2759.086947092097, + 15.225628434558264 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1243.659879772867, + -2759.086947092097, + 15.225628434558264 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1240.659879772867, + -2759.086947092097, + 15.225628434558264 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1237.659879772867, + -2759.086947092097, + 15.225628434558264 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1234.659879772867, + -2759.086947092097, + 15.225628434558264 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1231.659879772867, + -2759.086947092097, + 15.225628434558264 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1228.659879772867, + -2759.086947092097, + 15.225628434558264 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1225.659879772867, + -2759.086947092097, + 15.225628434558264 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1222.659879772867, + -2759.086947092097, + 15.225628434558264 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1219.659879772867, + -2759.086947092097, + 15.225628434558264 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1216.659879772867, + -2759.086947092097, + 15.225628434558264 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1213.659879772867, + -2759.086947092097, + 15.225628434558264 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1210.659879772867, + -2759.086947092097, + 15.225628434558264 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1207.659879772867, + -2759.086947092097, + 15.225628434558264 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1204.659879772867, + -2759.086947092097, + 15.225628434558264 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1201.659879772867, + -2759.086947092097, + 15.225628434558264 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1198.659879772867, + -2759.086947092097, + 15.225628434558264 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1195.659879772867, + -2759.086947092097, + 15.225628434558264 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1192.659879772867, + -2759.086947092097, + 15.225628434558264 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1192.659879772867, + -2759.086947092097, + 15.225628434558264 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1190.0618035615137, + -2757.586947092097, + 15.225628434558264 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1187.4637273501603, + -2756.086947092097, + 15.225628434558264 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1184.865651138807, + -2754.586947092097, + 15.225628434558264 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1182.2675749274536, + -2753.086947092097, + 15.225628434558264 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1179.6694987161002, + -2751.586947092097, + 15.225628434558264 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1177.0714225047468, + -2750.086947092097, + 15.225628434558264 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1174.4733462933934, + -2748.586947092097, + 15.225628434558264 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1171.87527008204, + -2747.086947092097, + 15.225628434558264 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1169.2771938706867, + -2745.586947092097, + 15.225628434558264 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1166.6791176593333, + -2744.086947092097, + 15.225628434558264 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1164.08104144798, + -2742.586947092097, + 15.225628434558264 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1161.4829652366266, + -2741.086947092097, + 15.225628434558264 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1132.0, + -2736.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_3-21-18_610506582/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_3-21-18_610506582/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2b3ddc044bb3ba5cd659b911209b6f02272f5ead --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_3-21-18_610506582/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 510.58557214922826, + 1850.3410768120348, + 36.689507602354496 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 509.08557214922826, + 1847.7430006006814, + 36.689507602354496 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 507.58557214922826, + 1845.144924389328, + 36.689507602354496 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 506.08557214922826, + 1842.5468481779747, + 36.689507602354496 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 504.58557214922826, + 1839.9487719666213, + 36.689507602354496 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 503.08557214922826, + 1837.350695755268, + 36.689507602354496 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 501.58557214922826, + 1834.7526195439145, + 36.689507602354496 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 500.08557214922826, + 1832.1545433325612, + 36.689507602354496 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 498.58557214922826, + 1829.5564671212078, + 36.689507602354496 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 497.08557214922826, + 1826.9583909098544, + 36.689507602354496 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 495.58557214922826, + 1824.360314698501, + 36.689507602354496 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 494.08557214922826, + 1821.7622384871477, + 36.689507602354496 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 492.58557214922826, + 1819.1641622757943, + 36.689507602354496 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 491.08557214922826, + 1816.566086064441, + 36.689507602354496 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 489.58557214922826, + 1813.9680098530876, + 36.689507602354496 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 488.08557214922826, + 1811.3699336417342, + 36.689507602354496 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 486.58557214922826, + 1808.7718574303808, + 36.689507602354496 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 485.08557214922826, + 1806.1737812190274, + 36.689507602354496 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 483.58557214922826, + 1803.575705007674, + 36.689507602354496 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 482.08557214922826, + 1800.9776287963207, + 36.689507602354496 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 480.58557214922826, + 1798.3795525849673, + 36.689507602354496 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 479.08557214922826, + 1795.781476373614, + 36.689507602354496 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 477.58557214922826, + 1793.1834001622606, + 36.689507602354496 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 476.08557214922826, + 1790.5853239509072, + 36.689507602354496 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 474.58557214922826, + 1787.9872477395538, + 36.689507602354496 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 473.08557214922826, + 1785.3891715282004, + 36.689507602354496 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 471.58557214922826, + 1782.791095316847, + 36.689507602354496 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 470.08557214922826, + 1780.1930191054937, + 36.689507602354496 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 468.58557214922826, + 1777.5949428941403, + 36.689507602354496 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 467.08557214922826, + 1774.996866682787, + 36.689507602354496 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 465.58557214922826, + 1772.3987904714336, + 36.689507602354496 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 464.08557214922826, + 1769.8007142600802, + 36.689507602354496 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 462.58557214922826, + 1767.2026380487268, + 36.689507602354496 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 461.08557214922826, + 1764.6045618373735, + 36.689507602354496 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 459.58557214922826, + 1762.00648562602, + 36.689507602354496 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 458.08557214922826, + 1759.4084094146667, + 36.689507602354496 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 456.58557214922826, + 1756.8103332033133, + 36.689507602354496 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 456.58557214922826, + 1756.8103332033133, + 36.689507602354496 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 453.98749593787494, + 1755.3103332033133, + 36.689507602354496 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 451.3894197265216, + 1753.8103332033133, + 36.689507602354496 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 448.7913435151683, + 1752.3103332033133, + 36.689507602354496 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 446.193267303815, + 1750.8103332033133, + 36.689507602354496 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 443.5951910924617, + 1749.3103332033133, + 36.689507602354496 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 440.99711488110836, + 1747.8103332033133, + 36.689507602354496 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 438.39903866975504, + 1746.3103332033133, + 36.689507602354496 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 435.8009624584017, + 1744.8103332033133, + 36.689507602354496 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 433.2028862470484, + 1743.3103332033133, + 36.689507602354496 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 430.6048100356951, + 1741.8103332033133, + 36.689507602354496 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 420.0, + 1728.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_3-23-14_384370888/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_3-23-14_384370888/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..61a0795287c9860682ada4406195865eb966d280 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_3-23-14_384370888/pose.jsonl @@ -0,0 +1,522 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1905.5535439722503, + 258.3547765793216, + 23.614992545773184 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1902.5535439722503, + 258.3547765793216, + 23.614992545773184 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1899.5535439722503, + 258.3547765793216, + 23.614992545773184 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1896.5535439722503, + 258.3547765793216, + 23.614992545773184 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1893.5535439722503, + 258.3547765793216, + 23.614992545773184 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1890.5535439722503, + 258.3547765793216, + 23.614992545773184 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1887.5535439722503, + 258.3547765793216, + 23.614992545773184 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1884.5535439722503, + 258.3547765793216, + 23.614992545773184 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1881.5535439722503, + 258.3547765793216, + 23.614992545773184 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1878.5535439722503, + 258.3547765793216, + 23.614992545773184 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1875.5535439722503, + 258.3547765793216, + 23.614992545773184 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1872.5535439722503, + 258.3547765793216, + 23.614992545773184 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1869.5535439722503, + 258.3547765793216, + 23.614992545773184 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1866.5535439722503, + 258.3547765793216, + 23.614992545773184 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1863.5535439722503, + 258.3547765793216, + 23.614992545773184 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1860.5535439722503, + 258.3547765793216, + 23.614992545773184 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1857.5535439722503, + 258.3547765793216, + 23.614992545773184 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1854.5535439722503, + 258.3547765793216, + 23.614992545773184 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1851.5535439722503, + 258.3547765793216, + 23.614992545773184 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1848.5535439722503, + 258.3547765793216, + 23.614992545773184 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1845.5535439722503, + 258.3547765793216, + 23.614992545773184 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1842.5535439722503, + 258.3547765793216, + 23.614992545773184 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1839.5535439722503, + 258.3547765793216, + 23.614992545773184 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1836.5535439722503, + 258.3547765793216, + 23.614992545773184 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1833.5535439722503, + 258.3547765793216, + 23.614992545773184 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1830.5535439722503, + 258.3547765793216, + 23.614992545773184 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1827.5535439722503, + 258.3547765793216, + 23.614992545773184 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1824.5535439722503, + 258.3547765793216, + 23.614992545773184 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1821.5535439722503, + 258.3547765793216, + 23.614992545773184 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1818.5535439722503, + 258.3547765793216, + 23.614992545773184 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1815.5535439722503, + 258.3547765793216, + 23.614992545773184 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1812.5535439722503, + 258.3547765793216, + 23.614992545773184 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1809.5535439722503, + 258.3547765793216, + 23.614992545773184 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1809.5535439722503, + 258.3547765793216, + 23.614992545773184 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1806.955467760897, + 256.8547765793216, + 23.614992545773184 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1804.3573915495435, + 255.3547765793216, + 23.614992545773184 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1801.7593153381902, + 253.8547765793216, + 23.614992545773184 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1799.1612391268368, + 252.3547765793216, + 23.614992545773184 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1796.5631629154834, + 250.8547765793216, + 23.614992545773184 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1740.0, + 244.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_3-34-45_1012836610/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_3-34-45_1012836610/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8ea3cc1f0d9f0753995a014a816afd8956c713d9 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_3-34-45_1012836610/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2190.3970506427463, + 2320.2320366373665, + 23.11692949245237 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2188.8970506427463, + 2317.6339604260133, + 23.11692949245237 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2187.3970506427463, + 2315.03588421466, + 23.11692949245237 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2185.8970506427463, + 2312.437808003307, + 23.11692949245237 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2184.3970506427463, + 2309.839731791954, + 23.11692949245237 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2182.8970506427463, + 2307.2416555806008, + 23.11692949245237 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2181.3970506427463, + 2304.6435793692476, + 23.11692949245237 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2179.8970506427463, + 2302.0455031578945, + 23.11692949245237 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2178.3970506427463, + 2299.4474269465413, + 23.11692949245237 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2176.8970506427463, + 2296.849350735188, + 23.11692949245237 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2175.3970506427463, + 2294.251274523835, + 23.11692949245237 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2173.8970506427463, + 2291.653198312482, + 23.11692949245237 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2172.3970506427463, + 2289.0551221011287, + 23.11692949245237 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2170.8970506427463, + 2286.4570458897756, + 23.11692949245237 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2169.3970506427463, + 2283.8589696784225, + 23.11692949245237 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2167.8970506427463, + 2281.2608934670693, + 23.11692949245237 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2166.3970506427463, + 2278.662817255716, + 23.11692949245237 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2164.8970506427463, + 2276.064741044363, + 23.11692949245237 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2163.3970506427463, + 2273.46666483301, + 23.11692949245237 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2161.8970506427463, + 2270.8685886216567, + 23.11692949245237 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2160.3970506427463, + 2268.2705124103036, + 23.11692949245237 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2158.8970506427463, + 2265.6724361989504, + 23.11692949245237 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2157.3970506427463, + 2263.0743599875973, + 23.11692949245237 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2155.8970506427463, + 2260.476283776244, + 23.11692949245237 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2154.3970506427463, + 2257.878207564891, + 23.11692949245237 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2152.8970506427463, + 2255.280131353538, + 23.11692949245237 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2151.3970506427463, + 2252.6820551421847, + 23.11692949245237 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2149.8970506427463, + 2250.0839789308316, + 23.11692949245237 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2148.3970506427463, + 2247.4859027194784, + 23.11692949245237 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2146.8970506427463, + 2244.8878265081253, + 23.11692949245237 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2145.3970506427463, + 2242.289750296772, + 23.11692949245237 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2143.8970506427463, + 2239.691674085419, + 23.11692949245237 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2142.3970506427463, + 2237.093597874066, + 23.11692949245237 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2140.8970506427463, + 2234.4955216627127, + 23.11692949245237 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2139.3970506427463, + 2231.8974454513595, + 23.11692949245237 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -2137.8970506427463, + 2229.2993692400064, + 23.11692949245237 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -2137.8970506427463, + 2229.2993692400064, + 23.11692949245237 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982706 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -2135.298974431393, + 2227.7993692400064, + 23.11692949245237 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -2132.70089822004, + 2226.2993692400064, + 23.11692949245237 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -2130.102822008687, + 2224.7993692400064, + 23.11692949245237 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -2127.5047457973337, + 2223.2993692400064, + 23.11692949245237 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -2124.9066695859806, + 2221.7993692400064, + 23.11692949245237 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -2122.3085933746274, + 2220.2993692400064, + 23.11692949245237 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -2119.7105171632743, + 2218.7993692400064, + 23.11692949245237 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -2117.112440951921, + 2217.2993692400064, + 23.11692949245237 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -2114.514364740568, + 2215.7993692400064, + 23.11692949245237 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -2111.916288529215, + 2214.2993692400064, + 23.11692949245237 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -2109.3182123178617, + 2212.7993692400064, + 23.11692949245237 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -2109.3182123178617, + 2212.7993692400064, + 23.11692949245237 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196626 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -2107.8182123178617, + 2210.2012930286533, + 23.11692949245237 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -2106.3182123178617, + 2207.6032168173, + 23.11692949245237 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -2104.8182123178617, + 2205.005140605947, + 23.11692949245237 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -2103.3182123178617, + 2202.407064394594, + 23.11692949245237 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -2101.8182123178617, + 2199.8089881832407, + 23.11692949245237 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965694 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2092.0, + 2184.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_3-39-29_413360099/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_3-39-29_413360099/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2b52c8e1659c1fc4b114f12e81d06487e2e6bf22 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_3-39-29_413360099/pose.jsonl @@ -0,0 +1,54 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2992.296946848136, + 1005.3422722028477, + 14.344139333210277 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2995.296946848136, + 1005.3422722028477, + 14.344139333210277 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2998.296946848136, + 1005.3422722028477, + 14.344139333210277 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -3156.0, + 1016.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_3-42-44_1396918184/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_3-42-44_1396918184/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ccb001bce3319ed67a61b02b5b52c7c571742c52 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_3-42-44_1396918184/pose.jsonl @@ -0,0 +1,457 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2561.366972776428, + -1850.0584379123322, + 24.31334306750847 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2558.768896565075, + -1851.5584379123322, + 24.31334306750847 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2556.170820353722, + -1853.0584379123322, + 24.31334306750847 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2553.5727441423687, + -1854.5584379123322, + 24.31334306750847 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2550.9746679310156, + -1856.0584379123322, + 24.31334306750847 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2548.3765917196624, + -1857.5584379123322, + 24.31334306750847 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2545.7785155083093, + -1859.0584379123322, + 24.31334306750847 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2543.180439296956, + -1860.5584379123322, + 24.31334306750847 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2540.582363085603, + -1862.0584379123322, + 24.31334306750847 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2537.98428687425, + -1863.5584379123322, + 24.31334306750847 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2535.3862106628967, + -1865.0584379123322, + 24.31334306750847 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2532.7881344515436, + -1866.5584379123322, + 24.31334306750847 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2532.7881344515436, + -1866.5584379123322, + 24.31334306750847 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196626 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2531.2881344515436, + -1869.1565141236856, + 24.31334306750847 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2529.7881344515436, + -1871.754590335039, + 24.31334306750847 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2528.2881344515436, + -1874.3526665463924, + 24.31334306750847 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2526.7881344515436, + -1876.9507427577457, + 24.31334306750847 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2525.2881344515436, + -1879.548818969099, + 24.31334306750847 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2523.7881344515436, + -1882.1468951804525, + 24.31334306750847 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2522.2881344515436, + -1884.7449713918058, + 24.31334306750847 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2520.7881344515436, + -1887.3430476031592, + 24.31334306750847 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2519.2881344515436, + -1889.9411238145126, + 24.31334306750847 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2517.7881344515436, + -1892.539200025866, + 24.31334306750847 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2516.2881344515436, + -1895.1372762372193, + 24.31334306750847 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2516.2881344515436, + -1895.1372762372193, + 24.31334306750847 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2516.2881344515436, + -1898.1372762372193, + 24.31334306750847 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2516.2881344515436, + -1898.1372762372193, + 24.31334306750847 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2516.2881344515436, + -1898.1372762372193, + 24.31334306750847 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2516.2881344515436, + -1898.1372762372193, + 24.31334306750847 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2513.2881344515436, + -1898.1372762372193, + 24.31334306750847 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2510.2881344515436, + -1898.1372762372193, + 24.31334306750847 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2507.2881344515436, + -1898.1372762372193, + 24.31334306750847 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2504.2881344515436, + -1898.1372762372193, + 24.31334306750847 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2501.2881344515436, + -1898.1372762372193, + 24.31334306750847 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2440.0, + -1944.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_3-43-56_96055805/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_3-43-56_96055805/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..536d1640a0a2f79bb2c0e488c2c83e8c66b87f29 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_3-43-56_96055805/pose.jsonl @@ -0,0 +1,782 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1610.632979043785, + -369.7393596205951, + 18.163264126732646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1609.132979043785, + -367.1412834092418, + 18.163264126732646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1607.632979043785, + -364.5432071978885, + 18.163264126732646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1606.132979043785, + -361.94513098653516, + 18.163264126732646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1604.632979043785, + -359.34705477518185, + 18.163264126732646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1603.132979043785, + -356.74897856382853, + 18.163264126732646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1601.632979043785, + -354.1509023524752, + 18.163264126732646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1600.132979043785, + -351.5528261411219, + 18.163264126732646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1598.632979043785, + -348.9547499297686, + 18.163264126732646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1597.132979043785, + -346.35667371841527, + 18.163264126732646 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1597.132979043785, + -346.35667371841527, + 18.163264126732646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1597.132979043785, + -343.35667371841527, + 18.163264126732646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1597.132979043785, + -340.35667371841527, + 18.163264126732646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1597.132979043785, + -337.35667371841527, + 18.163264126732646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1597.132979043785, + -334.35667371841527, + 18.163264126732646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1597.132979043785, + -331.35667371841527, + 18.163264126732646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1597.132979043785, + -328.35667371841527, + 18.163264126732646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1597.132979043785, + -325.35667371841527, + 18.163264126732646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1597.132979043785, + -322.35667371841527, + 18.163264126732646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1597.132979043785, + -319.35667371841527, + 18.163264126732646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1597.132979043785, + -316.35667371841527, + 18.163264126732646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1597.132979043785, + -313.35667371841527, + 18.163264126732646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1597.132979043785, + -310.35667371841527, + 18.163264126732646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1597.132979043785, + -307.35667371841527, + 18.163264126732646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1597.132979043785, + -304.35667371841527, + 18.163264126732646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1597.132979043785, + -301.35667371841527, + 18.163264126732646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1597.132979043785, + -298.35667371841527, + 18.163264126732646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1597.132979043785, + -295.35667371841527, + 18.163264126732646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1597.132979043785, + -292.35667371841527, + 18.163264126732646 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1597.132979043785, + -292.35667371841527, + 18.163264126732646 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1597.132979043785, + -292.35667371841527, + 18.163264126732646 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1594.5349028324317, + -290.85667371841527, + 18.163264126732646 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1591.9368266210784, + -289.35667371841527, + 18.163264126732646 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1589.338750409725, + -287.85667371841527, + 18.163264126732646 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1586.7406741983716, + -286.35667371841527, + 18.163264126732646 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1584.1425979870182, + -284.85667371841527, + 18.163264126732646 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1581.5445217756649, + -283.35667371841527, + 18.163264126732646 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1578.9464455643115, + -281.85667371841527, + 18.163264126732646 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1576.3483693529581, + -280.35667371841527, + 18.163264126732646 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1573.7502931416047, + -278.85667371841527, + 18.163264126732646 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1571.1522169302514, + -277.35667371841527, + 18.163264126732646 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1568.554140718898, + -275.85667371841527, + 18.163264126732646 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1565.9560645075446, + -274.35667371841527, + 18.163264126732646 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1565.9560645075446, + -274.35667371841527, + 18.163264126732646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1564.4560645075446, + -271.75859750706195, + 18.163264126732646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1562.9560645075446, + -269.16052129570863, + 18.163264126732646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1561.4560645075446, + -266.5624450843553, + 18.163264126732646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1559.9560645075446, + -263.964368873002, + 18.163264126732646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1558.4560645075446, + -261.3662926616487, + 18.163264126732646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1556.9560645075446, + -258.76821645029537, + 18.163264126732646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -1555.4560645075446, + -256.17014023894205, + 18.163264126732646 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -1553.9560645075446, + -253.57206402758874, + 18.163264126732646 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -1553.9560645075446, + -253.57206402758874, + 18.163264126732646 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -1551.3579882961913, + -252.07206402758874, + 18.163264126732646 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -1548.7599120848379, + -250.57206402758874, + 18.163264126732646 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -1546.1618358734845, + -249.07206402758874, + 18.163264126732646 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -1543.5637596621311, + -247.57206402758874, + 18.163264126732646 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -1540.9656834507778, + -246.07206402758874, + 18.163264126732646 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -1538.3676072394244, + -244.57206402758874, + 18.163264126732646 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1520.0, + -216.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_3-48-27_1000372555/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_3-48-27_1000372555/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ba684645e6c8d2fbc99f6cdb1fbb4b8841338192 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_3-48-27_1000372555/pose.jsonl @@ -0,0 +1,574 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -787.445185936028, + -164.94682116007235, + 27.64544943268162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -788.945185936028, + -162.34874494871903, + 27.64544943268162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -790.445185936028, + -159.75066873736571, + 27.64544943268162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -791.945185936028, + -157.1525925260124, + 27.64544943268162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -793.445185936028, + -154.55451631465908, + 27.64544943268162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -794.945185936028, + -151.95644010330577, + 27.64544943268162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -796.445185936028, + -149.35836389195245, + 27.64544943268162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -797.945185936028, + -146.76028768059913, + 27.64544943268162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -799.445185936028, + -144.16221146924582, + 27.64544943268162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -800.945185936028, + -141.5641352578925, + 27.64544943268162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -802.445185936028, + -138.9660590465392, + 27.64544943268162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -803.945185936028, + -136.36798283518587, + 27.64544943268162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -805.445185936028, + -133.76990662383255, + 27.64544943268162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -806.945185936028, + -131.17183041247924, + 27.64544943268162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -808.445185936028, + -128.57375420112592, + 27.64544943268162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -809.945185936028, + -125.9756779897726, + 27.64544943268162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -811.445185936028, + -123.37760177841929, + 27.64544943268162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -812.945185936028, + -120.77952556706597, + 27.64544943268162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -814.445185936028, + -118.18144935571266, + 27.64544943268162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -815.945185936028, + -115.58337314435934, + 27.64544943268162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -817.445185936028, + -112.98529693300603, + 27.64544943268162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -818.945185936028, + -110.38722072165271, + 27.64544943268162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -820.445185936028, + -107.7891445102994, + 27.64544943268162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -821.945185936028, + -105.19106829894608, + 27.64544943268162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -823.445185936028, + -102.59299208759276, + 27.64544943268162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -824.945185936028, + -99.99491587623945, + 27.64544943268162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -826.445185936028, + -97.39683966488613, + 27.64544943268162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -827.945185936028, + -94.79876345353281, + 27.64544943268162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -829.445185936028, + -92.2006872421795, + 27.64544943268162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -830.945185936028, + -89.60261103082618, + 27.64544943268162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -832.445185936028, + -87.00453481947287, + 27.64544943268162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -833.945185936028, + -84.40645860811955, + 27.64544943268162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -835.445185936028, + -81.80838239676623, + 27.64544943268162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -836.945185936028, + -79.21030618541292, + 27.64544943268162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -838.445185936028, + -76.6122299740596, + 27.64544943268162 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -838.445185936028, + -76.6122299740596, + 27.64544943268162 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -838.445185936028, + -73.6122299740596, + 27.64544943268162 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -838.445185936028, + -70.6122299740596, + 27.64544943268162 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -838.445185936028, + -67.6122299740596, + 27.64544943268162 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -838.445185936028, + -64.6122299740596, + 27.64544943268162 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -838.445185936028, + -61.6122299740596, + 27.64544943268162 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -838.445185936028, + -58.6122299740596, + 27.64544943268162 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -838.445185936028, + -55.6122299740596, + 27.64544943268162 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -856.0, + -12.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_3-52-58_695466127/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_3-52-58_695466127/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8b8b46ecbb9bbfc9dc54f5e9f7a6c458f4df62b0 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_3-52-58_695466127/pose.jsonl @@ -0,0 +1,821 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4343.358155401375, + 1499.9665607955228, + 30.70900899326205 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4340.358155401375, + 1499.9665607955228, + 30.70900899326205 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4337.358155401375, + 1499.9665607955228, + 30.70900899326205 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4334.358155401375, + 1499.9665607955228, + 30.70900899326205 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4331.358155401375, + 1499.9665607955228, + 30.70900899326205 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4328.358155401375, + 1499.9665607955228, + 30.70900899326205 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4325.358155401375, + 1499.9665607955228, + 30.70900899326205 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4322.358155401375, + 1499.9665607955228, + 30.70900899326205 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4319.358155401375, + 1499.9665607955228, + 30.70900899326205 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4316.358155401375, + 1499.9665607955228, + 30.70900899326205 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4313.358155401375, + 1499.9665607955228, + 30.70900899326205 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4310.358155401375, + 1499.9665607955228, + 30.70900899326205 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4310.358155401375, + 1499.9665607955228, + 30.70900899326205 + ], + "type": "turn left", + "value": 30, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4310.358155401375, + 1499.9665607955228, + 30.70900899326205 + ], + "type": "go straight", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4308.858155401375, + 1497.3684845841694, + 30.70900899326205 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4308.858155401375, + 1497.3684845841694, + 30.70900899326205 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 4308.858155401375, + 1497.3684845841694, + 30.70900899326205 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535897833 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 4305.858155401375, + 1497.3684845841694, + 30.70900899326205 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 4302.858155401375, + 1497.3684845841694, + 30.70900899326205 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 4299.858155401375, + 1497.3684845841694, + 30.70900899326205 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 4296.858155401375, + 1497.3684845841694, + 30.70900899326205 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 4296.858155401375, + 1497.3684845841694, + 30.70900899326205 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 4296.858155401375, + 1497.3684845841694, + 30.70900899326205 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 4295.358155401375, + 1499.9665607955228, + 30.70900899326205 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 4293.858155401375, + 1502.5646370068762, + 30.70900899326205 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 4292.358155401375, + 1505.1627132182296, + 30.70900899326205 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 4290.858155401375, + 1507.760789429583, + 30.70900899326205 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 4289.358155401375, + 1510.3588656409363, + 30.70900899326205 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 4287.858155401375, + 1512.9569418522897, + 30.70900899326205 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 4286.358155401375, + 1515.555018063643, + 30.70900899326205 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 4286.358155401375, + 1515.555018063643, + 30.70900899326205 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 4286.358155401375, + 1518.555018063643, + 30.70900899326205 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 4286.358155401375, + 1521.555018063643, + 30.70900899326205 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 4286.358155401375, + 1524.555018063643, + 30.70900899326205 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 4286.358155401375, + 1527.555018063643, + 30.70900899326205 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 4286.358155401375, + 1530.555018063643, + 30.70900899326205 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 4286.358155401375, + 1533.555018063643, + 30.70900899326205 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 4286.358155401375, + 1536.555018063643, + 30.70900899326205 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 4286.358155401375, + 1539.555018063643, + 30.70900899326205 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 4286.358155401375, + 1542.555018063643, + 30.70900899326205 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 4286.358155401375, + 1545.555018063643, + 30.70900899326205 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 4286.358155401375, + 1548.555018063643, + 30.70900899326205 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 4286.358155401375, + 1551.555018063643, + 30.70900899326205 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 4286.358155401375, + 1554.555018063643, + 30.70900899326205 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 4286.358155401375, + 1554.555018063643, + 30.70900899326205 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 4286.358155401375, + 1554.555018063643, + 30.70900899326205 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 4283.760079190022, + 1556.055018063643, + 30.70900899326205 + ], + "type": "turn right", + "value": 30, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 4283.760079190022, + 1556.055018063643, + 30.70900899326205 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931673 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 4282.260079190022, + 1558.6530942749964, + 30.70900899326205 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 4280.760079190022, + 1561.2511704863498, + 30.70900899326205 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 4280.760079190022, + 1561.2511704863498, + 30.70900899326205 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 4280.760079190022, + 1561.2511704863498, + 30.70900899326205 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535897833 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 4277.760079190022, + 1561.2511704863498, + 30.70900899326205 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 4274.760079190022, + 1561.2511704863498, + 30.70900899326205 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 4271.760079190022, + 1561.2511704863498, + 30.70900899326205 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 4268.760079190022, + 1561.2511704863498, + 30.70900899326205 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 4265.760079190022, + 1561.2511704863498, + 30.70900899326205 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 4265.760079190022, + 1561.2511704863498, + 30.70900899326205 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 4263.162002978669, + 1562.7511704863498, + 30.70900899326205 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 4260.563926767316, + 1564.2511704863498, + 30.70900899326205 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 4257.965850555963, + 1565.7511704863498, + 30.70900899326205 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 4255.36777434461, + 1567.2511704863498, + 30.70900899326205 + ], + "type": "stop", + "value": 0, + "yaw": 2.617993877991466 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4212.0, + 1596.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_3-54-36_981914693/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_3-54-36_981914693/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5beb95e417d738136f596488022083d6c4212da6 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_3-54-36_981914693/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2631.395514909354, + -1970.4940294145222, + 30.145696116177877 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2632.895514909354, + -1967.8959532031688, + 30.145696116177877 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2634.395514909354, + -1965.2978769918154, + 30.145696116177877 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2635.895514909354, + -1962.699800780462, + 30.145696116177877 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2637.395514909354, + -1960.1017245691087, + 30.145696116177877 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2638.895514909354, + -1957.5036483577553, + 30.145696116177877 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2640.395514909354, + -1954.905572146402, + 30.145696116177877 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2641.895514909354, + -1952.3074959350486, + 30.145696116177877 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2643.395514909354, + -1949.7094197236952, + 30.145696116177877 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2644.895514909354, + -1947.1113435123418, + 30.145696116177877 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2646.395514909354, + -1944.5132673009884, + 30.145696116177877 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2647.895514909354, + -1941.915191089635, + 30.145696116177877 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2649.395514909354, + -1939.3171148782817, + 30.145696116177877 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2650.895514909354, + -1936.7190386669283, + 30.145696116177877 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2652.395514909354, + -1934.120962455575, + 30.145696116177877 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2653.895514909354, + -1931.5228862442216, + 30.145696116177877 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2655.395514909354, + -1928.9248100328682, + 30.145696116177877 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2656.895514909354, + -1926.3267338215148, + 30.145696116177877 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2658.395514909354, + -1923.7286576101615, + 30.145696116177877 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2659.895514909354, + -1921.130581398808, + 30.145696116177877 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2661.395514909354, + -1918.5325051874547, + 30.145696116177877 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2662.895514909354, + -1915.9344289761013, + 30.145696116177877 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2664.395514909354, + -1913.336352764748, + 30.145696116177877 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2665.895514909354, + -1910.7382765533946, + 30.145696116177877 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2667.395514909354, + -1908.1402003420412, + 30.145696116177877 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2668.895514909354, + -1905.5421241306879, + 30.145696116177877 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2670.395514909354, + -1902.9440479193345, + 30.145696116177877 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2671.895514909354, + -1900.345971707981, + 30.145696116177877 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2671.895514909354, + -1900.345971707981, + 30.145696116177877 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2671.895514909354, + -1897.345971707981, + 30.145696116177877 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2671.895514909354, + -1894.345971707981, + 30.145696116177877 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2671.895514909354, + -1891.345971707981, + 30.145696116177877 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2671.895514909354, + -1888.345971707981, + 30.145696116177877 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2671.895514909354, + -1885.345971707981, + 30.145696116177877 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2671.895514909354, + -1882.345971707981, + 30.145696116177877 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -2671.895514909354, + -1879.345971707981, + 30.145696116177877 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -2671.895514909354, + -1876.345971707981, + 30.145696116177877 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -2671.895514909354, + -1873.345971707981, + 30.145696116177877 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -2671.895514909354, + -1870.345971707981, + 30.145696116177877 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -2671.895514909354, + -1867.345971707981, + 30.145696116177877 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -2671.895514909354, + -1864.345971707981, + 30.145696116177877 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -2671.895514909354, + -1861.345971707981, + 30.145696116177877 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -2671.895514909354, + -1858.345971707981, + 30.145696116177877 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -2671.895514909354, + -1855.345971707981, + 30.145696116177877 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -2671.895514909354, + -1852.345971707981, + 30.145696116177877 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -2671.895514909354, + -1849.345971707981, + 30.145696116177877 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -2671.895514909354, + -1846.345971707981, + 30.145696116177877 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -2671.895514909354, + -1843.345971707981, + 30.145696116177877 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -2671.895514909354, + -1840.345971707981, + 30.145696116177877 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -2671.895514909354, + -1837.345971707981, + 30.145696116177877 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -2671.895514909354, + -1837.345971707981, + 30.145696116177877 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -2671.895514909354, + -1837.345971707981, + 30.145696116177877 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -2674.493591120707, + -1835.845971707981, + 30.145696116177877 + ], + "type": "stop", + "value": 0, + "yaw": 2.617993877991494 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2684.0, + -1808.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_3-58-3_576994985/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_3-58-3_576994985/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..40ae97e3410e0b59e696a86379919dc2f9e6c9b7 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_3-58-3_576994985/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3994.0188390344583, + 457.9150329297856, + 23.227071366212733 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3991.420762823105, + 459.4150329297856, + 23.227071366212733 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3988.822686611752, + 460.9150329297856, + 23.227071366212733 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3986.224610400399, + 462.4150329297856, + 23.227071366212733 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3983.6265341890457, + 463.9150329297856, + 23.227071366212733 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3981.0284579776926, + 465.4150329297856, + 23.227071366212733 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3978.4303817663395, + 466.9150329297856, + 23.227071366212733 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3975.8323055549863, + 468.4150329297856, + 23.227071366212733 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 3973.234229343633, + 469.9150329297856, + 23.227071366212733 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 3970.63615313228, + 471.4150329297856, + 23.227071366212733 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 3968.038076920927, + 472.9150329297856, + 23.227071366212733 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 3965.4400007095737, + 474.4150329297856, + 23.227071366212733 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 3962.8419244982206, + 475.9150329297856, + 23.227071366212733 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 3960.2438482868674, + 477.4150329297856, + 23.227071366212733 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 3957.6457720755143, + 478.9150329297856, + 23.227071366212733 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 3955.047695864161, + 480.4150329297856, + 23.227071366212733 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 3952.449619652808, + 481.9150329297856, + 23.227071366212733 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 3949.851543441455, + 483.4150329297856, + 23.227071366212733 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 3947.2534672301017, + 484.9150329297856, + 23.227071366212733 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 3944.6553910187486, + 486.4150329297856, + 23.227071366212733 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 3944.6553910187486, + 486.4150329297856, + 23.227071366212733 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535897647 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 3941.6553910187486, + 486.4150329297856, + 23.227071366212733 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 3938.6553910187486, + 486.4150329297856, + 23.227071366212733 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3852.0, + 524.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_3-8-22_1907895021/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_3-8-22_1907895021/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3cb4405dbf101a25438f760eb6b0b4fd1e7df6e0 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_3-8-22_1907895021/pose.jsonl @@ -0,0 +1,236 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1532.7455762220093, + 933.8487760613386, + 35.087997342295004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1532.7455762220093, + 936.8487760613386, + 35.087997342295004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1532.7455762220093, + 939.8487760613386, + 35.087997342295004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1532.7455762220093, + 942.8487760613386, + 35.087997342295004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1532.7455762220093, + 945.8487760613386, + 35.087997342295004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1532.7455762220093, + 948.8487760613386, + 35.087997342295004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1532.7455762220093, + 951.8487760613386, + 35.087997342295004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1532.7455762220093, + 954.8487760613386, + 35.087997342295004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1532.7455762220093, + 957.8487760613386, + 35.087997342295004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1532.7455762220093, + 960.8487760613386, + 35.087997342295004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1532.7455762220093, + 963.8487760613386, + 35.087997342295004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1532.7455762220093, + 966.8487760613386, + 35.087997342295004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1532.7455762220093, + 969.8487760613386, + 35.087997342295004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1532.7455762220093, + 972.8487760613386, + 35.087997342295004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1532.7455762220093, + 975.8487760613386, + 35.087997342295004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1532.7455762220093, + 978.8487760613386, + 35.087997342295004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1532.7455762220093, + 981.8487760613386, + 35.087997342295004 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1524.0, + 1096.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_3-8-34_219544266/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_3-8-34_219544266/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1a758d3c36c0c5520442cffa381623086aeeb6f1 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_3-8-34_219544266/pose.jsonl @@ -0,0 +1,379 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4133.783173009743, + -2527.6801028182717, + 28.512557540168906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4136.783173009743, + -2527.6801028182717, + 28.512557540168906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4139.783173009743, + -2527.6801028182717, + 28.512557540168906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4142.783173009743, + -2527.6801028182717, + 28.512557540168906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4145.783173009743, + -2527.6801028182717, + 28.512557540168906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4148.783173009743, + -2527.6801028182717, + 28.512557540168906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4151.783173009743, + -2527.6801028182717, + 28.512557540168906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4154.783173009743, + -2527.6801028182717, + 28.512557540168906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4157.783173009743, + -2527.6801028182717, + 28.512557540168906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4160.783173009743, + -2527.6801028182717, + 28.512557540168906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4163.783173009743, + -2527.6801028182717, + 28.512557540168906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4166.783173009743, + -2527.6801028182717, + 28.512557540168906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4169.783173009743, + -2527.6801028182717, + 28.512557540168906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4172.783173009743, + -2527.6801028182717, + 28.512557540168906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4175.783173009743, + -2527.6801028182717, + 28.512557540168906 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4175.783173009743, + -2527.6801028182717, + 28.512557540168906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 4178.381249221096, + -2526.1801028182717, + 28.512557540168906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 4180.9793254324495, + -2524.6801028182717, + 28.512557540168906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 4183.577401643803, + -2523.1801028182717, + 28.512557540168906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 4186.175477855156, + -2521.6801028182717, + 28.512557540168906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 4188.773554066509, + -2520.1801028182717, + 28.512557540168906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 4191.371630277862, + -2518.6801028182717, + 28.512557540168906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 4193.969706489215, + -2517.1801028182717, + 28.512557540168906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 4196.567782700568, + -2515.6801028182717, + 28.512557540168906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 4199.1658589119215, + -2514.1801028182717, + 28.512557540168906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 4201.763935123275, + -2512.6801028182717, + 28.512557540168906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 4204.362011334628, + -2511.1801028182717, + 28.512557540168906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 4206.960087545981, + -2509.6801028182717, + 28.512557540168906 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755983272 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4288.0, + -2488.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_4-12-42_2078107280/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_4-12-42_2078107280/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..35249fb93abde1bb787b9acf4e11d2796cbc7a44 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_4-12-42_2078107280/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1361.7264582264468, + -2222.255535224968, + 19.28330232960497 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1361.7264582264468, + -2219.255535224968, + 19.28330232960497 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1361.7264582264468, + -2216.255535224968, + 19.28330232960497 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1361.7264582264468, + -2213.255535224968, + 19.28330232960497 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1361.7264582264468, + -2210.255535224968, + 19.28330232960497 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1361.7264582264468, + -2207.255535224968, + 19.28330232960497 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1361.7264582264468, + -2204.255535224968, + 19.28330232960497 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1361.7264582264468, + -2201.255535224968, + 19.28330232960497 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1361.7264582264468, + -2198.255535224968, + 19.28330232960497 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1361.7264582264468, + -2195.255535224968, + 19.28330232960497 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1361.7264582264468, + -2192.255535224968, + 19.28330232960497 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1361.7264582264468, + -2189.255535224968, + 19.28330232960497 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1361.7264582264468, + -2186.255535224968, + 19.28330232960497 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1361.7264582264468, + -2183.255535224968, + 19.28330232960497 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1361.7264582264468, + -2180.255535224968, + 19.28330232960497 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1361.7264582264468, + -2177.255535224968, + 19.28330232960497 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1361.7264582264468, + -2174.255535224968, + 19.28330232960497 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1361.7264582264468, + -2174.255535224968, + 19.28330232960497 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1361.7264582264468, + -2174.255535224968, + 19.28330232960497 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1364.3245344378001, + -2172.755535224968, + 19.28330232960497 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1366.9226106491535, + -2171.255535224968, + 19.28330232960497 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1369.5206868605069, + -2169.755535224968, + 19.28330232960497 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1369.5206868605069, + -2169.755535224968, + 19.28330232960497 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1371.0206868605069, + -2167.1574590136147, + 19.28330232960497 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1372.5206868605069, + -2164.5593828022616, + 19.28330232960497 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1374.0206868605069, + -2161.9613065909084, + 19.28330232960497 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1375.5206868605069, + -2159.3632303795553, + 19.28330232960497 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1377.0206868605069, + -2156.765154168202, + 19.28330232960497 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1378.5206868605069, + -2154.167077956849, + 19.28330232960497 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1380.0206868605069, + -2151.569001745496, + 19.28330232960497 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1381.5206868605069, + -2148.9709255341427, + 19.28330232960497 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1383.0206868605069, + -2146.3728493227895, + 19.28330232960497 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1384.5206868605069, + -2143.7747731114364, + 19.28330232960497 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1386.0206868605069, + -2141.1766969000832, + 19.28330232960497 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1387.5206868605069, + -2138.57862068873, + 19.28330232960497 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1387.5206868605069, + -2138.57862068873, + 19.28330232960497 + ], + "type": "go straight", + "value": 3, + "yaw": 1.570796326794925 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1387.5206868605069, + -2135.57862068873, + 19.28330232960497 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1387.5206868605069, + -2132.57862068873, + 19.28330232960497 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1387.5206868605069, + -2129.57862068873, + 19.28330232960497 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1387.5206868605069, + -2126.57862068873, + 19.28330232960497 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1387.5206868605069, + -2123.57862068873, + 19.28330232960497 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1387.5206868605069, + -2120.57862068873, + 19.28330232960497 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1387.5206868605069, + -2117.57862068873, + 19.28330232960497 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1387.5206868605069, + -2114.57862068873, + 19.28330232960497 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1387.5206868605069, + -2111.57862068873, + 19.28330232960497 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1387.5206868605069, + -2108.57862068873, + 19.28330232960497 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1387.5206868605069, + -2105.57862068873, + 19.28330232960497 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1387.5206868605069, + -2102.57862068873, + 19.28330232960497 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1387.5206868605069, + -2099.57862068873, + 19.28330232960497 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1387.5206868605069, + -2096.57862068873, + 19.28330232960497 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -1387.5206868605069, + -2093.57862068873, + 19.28330232960497 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -1387.5206868605069, + -2090.57862068873, + 19.28330232960497 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -1387.5206868605069, + -2087.57862068873, + 19.28330232960497 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1392.0, + -2056.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_4-16-32_342146590/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_4-16-32_342146590/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..07b13eb632d9523b1cfebf5d0d0be843fac4b71f --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_4-16-32_342146590/pose.jsonl @@ -0,0 +1,782 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2920.5529504516226, + -894.8990193001086, + 21.768373824196352 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2920.5529504516226, + -891.8990193001086, + 21.768373824196352 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2920.5529504516226, + -888.8990193001086, + 21.768373824196352 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2920.5529504516226, + -885.8990193001086, + 21.768373824196352 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2920.5529504516226, + -882.8990193001086, + 21.768373824196352 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2920.5529504516226, + -882.8990193001086, + 21.768373824196352 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2919.0529504516226, + -880.3009430887553, + 21.768373824196352 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2917.5529504516226, + -877.7028668774019, + 21.768373824196352 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2916.0529504516226, + -875.1047906660485, + 21.768373824196352 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2914.5529504516226, + -872.5067144546952, + 21.768373824196352 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2913.0529504516226, + -869.9086382433418, + 21.768373824196352 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2911.5529504516226, + -867.3105620319884, + 21.768373824196352 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2910.0529504516226, + -864.712485820635, + 21.768373824196352 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2908.5529504516226, + -862.1144096092817, + 21.768373824196352 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2907.0529504516226, + -859.5163333979283, + 21.768373824196352 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2905.5529504516226, + -856.9182571865749, + 21.768373824196352 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2904.0529504516226, + -854.3201809752215, + 21.768373824196352 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2902.5529504516226, + -851.7221047638682, + 21.768373824196352 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2901.0529504516226, + -849.1240285525148, + 21.768373824196352 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2899.5529504516226, + -846.5259523411614, + 21.768373824196352 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2898.0529504516226, + -843.927876129808, + 21.768373824196352 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2896.5529504516226, + -841.3297999184547, + 21.768373824196352 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2895.0529504516226, + -838.7317237071013, + 21.768373824196352 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2893.5529504516226, + -836.1336474957479, + 21.768373824196352 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2892.0529504516226, + -833.5355712843946, + 21.768373824196352 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2890.5529504516226, + -830.9374950730412, + 21.768373824196352 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2889.0529504516226, + -828.3394188616878, + 21.768373824196352 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2887.5529504516226, + -825.7413426503344, + 21.768373824196352 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2886.0529504516226, + -823.1432664389811, + 21.768373824196352 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2884.5529504516226, + -820.5451902276277, + 21.768373824196352 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2884.5529504516226, + -820.5451902276277, + 21.768373824196352 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2884.5529504516226, + -817.5451902276277, + 21.768373824196352 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2884.5529504516226, + -814.5451902276277, + 21.768373824196352 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2884.5529504516226, + -811.5451902276277, + 21.768373824196352 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2884.5529504516226, + -808.5451902276277, + 21.768373824196352 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -2884.5529504516226, + -805.5451902276277, + 21.768373824196352 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -2884.5529504516226, + -802.5451902276277, + 21.768373824196352 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -2884.5529504516226, + -799.5451902276277, + 21.768373824196352 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -2884.5529504516226, + -796.5451902276277, + 21.768373824196352 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -2884.5529504516226, + -793.5451902276277, + 21.768373824196352 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -2884.5529504516226, + -790.5451902276277, + 21.768373824196352 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -2884.5529504516226, + -787.5451902276277, + 21.768373824196352 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -2884.5529504516226, + -784.5451902276277, + 21.768373824196352 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -2884.5529504516226, + -781.5451902276277, + 21.768373824196352 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -2884.5529504516226, + -778.5451902276277, + 21.768373824196352 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -2884.5529504516226, + -778.5451902276277, + 21.768373824196352 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -2886.0529504516226, + -775.9471140162743, + 21.768373824196352 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -2887.5529504516226, + -773.349037804921, + 21.768373824196352 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -2887.5529504516226, + -773.349037804921, + 21.768373824196352 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -2887.5529504516226, + -770.349037804921, + 21.768373824196352 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -2887.5529504516226, + -767.349037804921, + 21.768373824196352 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -2887.5529504516226, + -764.349037804921, + 21.768373824196352 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -2887.5529504516226, + -761.349037804921, + 21.768373824196352 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -2887.5529504516226, + -758.349037804921, + 21.768373824196352 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -2887.5529504516226, + -755.349037804921, + 21.768373824196352 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -2887.5529504516226, + -752.349037804921, + 21.768373824196352 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -2887.5529504516226, + -749.349037804921, + 21.768373824196352 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -2887.5529504516226, + -749.349037804921, + 21.768373824196352 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -2886.0529504516226, + -746.7509615935676, + 21.768373824196352 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2880.0, + -724.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_4-23-42_85291638/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_4-23-42_85291638/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d8cc5ced228784dcd24684a425f02e5777b2166b --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_4-23-42_85291638/pose.jsonl @@ -0,0 +1,444 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2982.1685594445507, + 1038.7838299543741, + 36.59411311343776 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2979.5704832331976, + 1040.2838299543741, + 36.59411311343776 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2976.9724070218444, + 1041.7838299543741, + 36.59411311343776 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2974.3743308104913, + 1043.2838299543741, + 36.59411311343776 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2971.776254599138, + 1044.7838299543741, + 36.59411311343776 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2969.178178387785, + 1046.2838299543741, + 36.59411311343776 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2966.580102176432, + 1047.7838299543741, + 36.59411311343776 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2963.9820259650787, + 1049.2838299543741, + 36.59411311343776 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2961.3839497537256, + 1050.7838299543741, + 36.59411311343776 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 2958.7858735423724, + 1052.2838299543741, + 36.59411311343776 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2956.1877973310193, + 1053.7838299543741, + 36.59411311343776 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2953.589721119666, + 1055.2838299543741, + 36.59411311343776 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 2950.991644908313, + 1056.7838299543741, + 36.59411311343776 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 2948.39356869696, + 1058.2838299543741, + 36.59411311343776 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 2945.7954924856067, + 1059.7838299543741, + 36.59411311343776 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 2943.1974162742536, + 1061.2838299543741, + 36.59411311343776 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 2940.5993400629004, + 1062.7838299543741, + 36.59411311343776 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 2938.0012638515473, + 1064.2838299543741, + 36.59411311343776 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 2935.403187640194, + 1065.7838299543741, + 36.59411311343776 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 2932.805111428841, + 1067.2838299543741, + 36.59411311343776 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 2930.207035217488, + 1068.7838299543741, + 36.59411311343776 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 2927.6089590061347, + 1070.2838299543741, + 36.59411311343776 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 2925.0108827947815, + 1071.7838299543741, + 36.59411311343776 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 2922.4128065834284, + 1073.2838299543741, + 36.59411311343776 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 2922.4128065834284, + 1073.2838299543741, + 36.59411311343776 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535897647 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 2919.4128065834284, + 1073.2838299543741, + 36.59411311343776 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 2916.4128065834284, + 1073.2838299543741, + 36.59411311343776 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 2913.4128065834284, + 1073.2838299543741, + 36.59411311343776 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 2910.4128065834284, + 1073.2838299543741, + 36.59411311343776 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 2907.4128065834284, + 1073.2838299543741, + 36.59411311343776 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 2904.4128065834284, + 1073.2838299543741, + 36.59411311343776 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 2904.4128065834284, + 1073.2838299543741, + 36.59411311343776 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 2901.8147303720752, + 1074.7838299543741, + 36.59411311343776 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2844.0, + 1100.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_4-24-34_394709364/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_4-24-34_394709364/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4bd039a20b614453f631a042646efdf21d13cfea --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_4-24-34_394709364/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2307.672208024816, + -2136.9809767307875, + 39.20430289128185 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2304.672208024816, + -2136.9809767307875, + 39.20430289128185 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2301.672208024816, + -2136.9809767307875, + 39.20430289128185 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2298.672208024816, + -2136.9809767307875, + 39.20430289128185 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2295.672208024816, + -2136.9809767307875, + 39.20430289128185 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2292.672208024816, + -2136.9809767307875, + 39.20430289128185 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2289.672208024816, + -2136.9809767307875, + 39.20430289128185 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2286.672208024816, + -2136.9809767307875, + 39.20430289128185 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2283.672208024816, + -2136.9809767307875, + 39.20430289128185 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 2280.672208024816, + -2136.9809767307875, + 39.20430289128185 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2277.672208024816, + -2136.9809767307875, + 39.20430289128185 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2274.672208024816, + -2136.9809767307875, + 39.20430289128185 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 2271.672208024816, + -2136.9809767307875, + 39.20430289128185 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 2268.672208024816, + -2136.9809767307875, + 39.20430289128185 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 2265.672208024816, + -2136.9809767307875, + 39.20430289128185 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 2262.672208024816, + -2136.9809767307875, + 39.20430289128185 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 2259.672208024816, + -2136.9809767307875, + 39.20430289128185 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 2256.672208024816, + -2136.9809767307875, + 39.20430289128185 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 2253.672208024816, + -2136.9809767307875, + 39.20430289128185 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 2250.672208024816, + -2136.9809767307875, + 39.20430289128185 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 2247.672208024816, + -2136.9809767307875, + 39.20430289128185 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 2244.672208024816, + -2136.9809767307875, + 39.20430289128185 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 2241.672208024816, + -2136.9809767307875, + 39.20430289128185 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 2238.672208024816, + -2136.9809767307875, + 39.20430289128185 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 2235.672208024816, + -2136.9809767307875, + 39.20430289128185 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 2232.672208024816, + -2136.9809767307875, + 39.20430289128185 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 2229.672208024816, + -2136.9809767307875, + 39.20430289128185 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 2226.672208024816, + -2136.9809767307875, + 39.20430289128185 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 2226.672208024816, + -2136.9809767307875, + 39.20430289128185 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 2224.074131813463, + -2135.4809767307875, + 39.20430289128185 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 2221.4760556021097, + -2133.9809767307875, + 39.20430289128185 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 2218.8779793907565, + -2132.4809767307875, + 39.20430289128185 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 2216.2799031794034, + -2130.9809767307875, + 39.20430289128185 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 2213.6818269680502, + -2129.4809767307875, + 39.20430289128185 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 2211.083750756697, + -2127.9809767307875, + 39.20430289128185 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 2208.485674545344, + -2126.4809767307875, + 39.20430289128185 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 2205.887598333991, + -2124.9809767307875, + 39.20430289128185 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 2203.2895221226377, + -2123.4809767307875, + 39.20430289128185 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 2200.6914459112845, + -2121.9809767307875, + 39.20430289128185 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 2198.0933696999314, + -2120.4809767307875, + 39.20430289128185 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 2195.495293488578, + -2118.9809767307875, + 39.20430289128185 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 2192.897217277225, + -2117.4809767307875, + 39.20430289128185 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 2190.299141065872, + -2115.9809767307875, + 39.20430289128185 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 2187.701064854519, + -2114.4809767307875, + 39.20430289128185 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 2185.1029886431656, + -2112.9809767307875, + 39.20430289128185 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 2182.5049124318125, + -2111.4809767307875, + 39.20430289128185 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 2179.9068362204594, + -2109.9809767307875, + 39.20430289128185 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 2177.308760009106, + -2108.4809767307875, + 39.20430289128185 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 2174.710683797753, + -2106.9809767307875, + 39.20430289128185 + ], + "type": "stop", + "value": 0, + "yaw": 2.617993877991466 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2140.0, + -2100.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_4-28-36_1292413412/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_4-28-36_1292413412/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..07e8f1cadd234dfd1e3d99538ef2792a9c7b2be6 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_4-28-36_1292413412/pose.jsonl @@ -0,0 +1,457 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1162.2419203913955, + 1953.2121165200424, + 27.7424115626715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1163.7419203913955, + 1955.8101927313958, + 27.7424115626715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1165.2419203913955, + 1958.4082689427491, + 27.7424115626715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1166.7419203913955, + 1961.0063451541025, + 27.7424115626715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1168.2419203913955, + 1963.604421365456, + 27.7424115626715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1169.7419203913955, + 1966.2024975768093, + 27.7424115626715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1171.2419203913955, + 1968.8005737881626, + 27.7424115626715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1172.7419203913955, + 1971.398649999516, + 27.7424115626715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1174.2419203913955, + 1973.9967262108694, + 27.7424115626715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1175.7419203913955, + 1976.5948024222228, + 27.7424115626715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1177.2419203913955, + 1979.1928786335761, + 27.7424115626715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1178.7419203913955, + 1981.7909548449295, + 27.7424115626715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1180.2419203913955, + 1984.3890310562829, + 27.7424115626715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1181.7419203913955, + 1986.9871072676362, + 27.7424115626715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1183.2419203913955, + 1989.5851834789896, + 27.7424115626715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1184.7419203913955, + 1992.183259690343, + 27.7424115626715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1186.2419203913955, + 1994.7813359016964, + 27.7424115626715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1187.7419203913955, + 1997.3794121130497, + 27.7424115626715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1189.2419203913955, + 1999.977488324403, + 27.7424115626715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1190.7419203913955, + 2002.5755645357565, + 27.7424115626715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1192.2419203913955, + 2005.1736407471099, + 27.7424115626715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1193.7419203913955, + 2007.7717169584632, + 27.7424115626715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1195.2419203913955, + 2010.3697931698166, + 27.7424115626715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1196.7419203913955, + 2012.96786938117, + 27.7424115626715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1198.2419203913955, + 2015.5659455925233, + 27.7424115626715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1199.7419203913955, + 2018.1640218038767, + 27.7424115626715 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1199.7419203913955, + 2018.1640218038767, + 27.7424115626715 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1199.7419203913955, + 2021.1640218038767, + 27.7424115626715 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1199.7419203913955, + 2024.1640218038767, + 27.7424115626715 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1199.7419203913955, + 2024.1640218038767, + 27.7424115626715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1201.2419203913955, + 2026.76209801523, + 27.7424115626715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1202.7419203913955, + 2029.3601742265835, + 27.7424115626715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1204.2419203913955, + 2031.9582504379368, + 27.7424115626715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1205.7419203913955, + 2034.5563266492902, + 27.7424115626715 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1240.0, + 2092.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_4-3-19_915711850/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_4-3-19_915711850/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e915dae8641438768a022af13dff9907e6bf12b8 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_4-3-19_915711850/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1681.5590598044373, + 1118.9705055593352, + 28.016770422534435 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1683.0590598044373, + 1116.3724293479818, + 28.016770422534435 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1684.5590598044373, + 1113.7743531366284, + 28.016770422534435 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1686.0590598044373, + 1111.176276925275, + 28.016770422534435 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1687.5590598044373, + 1108.5782007139217, + 28.016770422534435 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1689.0590598044373, + 1105.9801245025683, + 28.016770422534435 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1690.5590598044373, + 1103.382048291215, + 28.016770422534435 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1692.0590598044373, + 1100.7839720798615, + 28.016770422534435 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1693.5590598044373, + 1098.1858958685082, + 28.016770422534435 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1695.0590598044373, + 1095.5878196571548, + 28.016770422534435 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1696.5590598044373, + 1092.9897434458014, + 28.016770422534435 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1698.0590598044373, + 1090.391667234448, + 28.016770422534435 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1699.5590598044373, + 1087.7935910230947, + 28.016770422534435 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1701.0590598044373, + 1085.1955148117413, + 28.016770422534435 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1701.0590598044373, + 1085.1955148117413, + 28.016770422534435 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1703.6571360157907, + 1083.6955148117413, + 28.016770422534435 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1706.255212227144, + 1082.1955148117413, + 28.016770422534435 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1708.8532884384974, + 1080.6955148117413, + 28.016770422534435 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1711.4513646498508, + 1079.1955148117413, + 28.016770422534435 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1714.0494408612042, + 1077.6955148117413, + 28.016770422534435 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1716.6475170725575, + 1076.1955148117413, + 28.016770422534435 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1719.245593283911, + 1074.6955148117413, + 28.016770422534435 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1721.8436694952643, + 1073.1955148117413, + 28.016770422534435 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1724.4417457066177, + 1071.6955148117413, + 28.016770422534435 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1727.039821917971, + 1070.1955148117413, + 28.016770422534435 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1729.6378981293244, + 1068.6955148117413, + 28.016770422534435 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1732.2359743406778, + 1067.1955148117413, + 28.016770422534435 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1734.8340505520312, + 1065.6955148117413, + 28.016770422534435 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1737.4321267633845, + 1064.1955148117413, + 28.016770422534435 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1737.4321267633845, + 1064.1955148117413, + 28.016770422534435 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1738.9321267633845, + 1061.597438600388, + 28.016770422534435 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1740.4321267633845, + 1058.9993623890346, + 28.016770422534435 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1741.9321267633845, + 1056.4012861776812, + 28.016770422534435 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1743.4321267633845, + 1053.8032099663278, + 28.016770422534435 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1744.9321267633845, + 1051.2051337549744, + 28.016770422534435 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1746.4321267633845, + 1048.607057543621, + 28.016770422534435 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1747.9321267633845, + 1046.0089813322677, + 28.016770422534435 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1749.4321267633845, + 1043.4109051209143, + 28.016770422534435 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1750.9321267633845, + 1040.812828909561, + 28.016770422534435 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1752.4321267633845, + 1038.2147526982076, + 28.016770422534435 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1753.9321267633845, + 1035.6166764868542, + 28.016770422534435 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1755.4321267633845, + 1033.0186002755008, + 28.016770422534435 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1756.9321267633845, + 1030.4205240641475, + 28.016770422534435 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1758.4321267633845, + 1027.822447852794, + 28.016770422534435 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1759.9321267633845, + 1025.2243716414407, + 28.016770422534435 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1761.4321267633845, + 1022.6262954300873, + 28.016770422534435 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1796.0, + 984.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_4-36-17_1880346039/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_4-36-17_1880346039/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2b7dd0ecccc3f91e205e15bbfd3baefa864bab89 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_4-36-17_1880346039/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 243.24851840978954, + 1129.76460789058, + 34.327660078785584 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 240.65044219843622, + 1131.26460789058, + 34.327660078785584 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 238.0523659870829, + 1132.76460789058, + 34.327660078785584 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 235.4542897757296, + 1134.26460789058, + 34.327660078785584 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 232.85621356437628, + 1135.76460789058, + 34.327660078785584 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 230.25813735302296, + 1137.26460789058, + 34.327660078785584 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 227.66006114166964, + 1138.76460789058, + 34.327660078785584 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 225.06198493031633, + 1140.26460789058, + 34.327660078785584 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 222.463908718963, + 1141.76460789058, + 34.327660078785584 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 219.8658325076097, + 1143.26460789058, + 34.327660078785584 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 217.26775629625638, + 1144.76460789058, + 34.327660078785584 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 214.66968008490306, + 1146.26460789058, + 34.327660078785584 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 212.07160387354975, + 1147.76460789058, + 34.327660078785584 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 209.47352766219643, + 1149.26460789058, + 34.327660078785584 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 206.87545145084312, + 1150.76460789058, + 34.327660078785584 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 204.2773752394898, + 1152.26460789058, + 34.327660078785584 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 201.67929902813648, + 1153.76460789058, + 34.327660078785584 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 199.08122281678317, + 1155.26460789058, + 34.327660078785584 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 196.48314660542985, + 1156.76460789058, + 34.327660078785584 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 193.88507039407654, + 1158.26460789058, + 34.327660078785584 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 191.28699418272322, + 1159.76460789058, + 34.327660078785584 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 188.6889179713699, + 1161.26460789058, + 34.327660078785584 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 186.0908417600166, + 1162.76460789058, + 34.327660078785584 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 183.49276554866327, + 1164.26460789058, + 34.327660078785584 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 180.89468933730996, + 1165.76460789058, + 34.327660078785584 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 178.29661312595664, + 1167.26460789058, + 34.327660078785584 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 175.69853691460332, + 1168.76460789058, + 34.327660078785584 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 173.10046070325, + 1170.26460789058, + 34.327660078785584 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 170.5023844918967, + 1171.76460789058, + 34.327660078785584 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 167.90430828054338, + 1173.26460789058, + 34.327660078785584 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 165.30623206919006, + 1174.76460789058, + 34.327660078785584 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 162.70815585783674, + 1176.26460789058, + 34.327660078785584 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 160.11007964648343, + 1177.76460789058, + 34.327660078785584 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 157.5120034351301, + 1179.26460789058, + 34.327660078785584 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 154.9139272237768, + 1180.76460789058, + 34.327660078785584 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 152.31585101242348, + 1182.26460789058, + 34.327660078785584 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 149.71777480107016, + 1183.76460789058, + 34.327660078785584 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 147.11969858971685, + 1185.26460789058, + 34.327660078785584 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 144.52162237836353, + 1186.76460789058, + 34.327660078785584 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 141.92354616701022, + 1188.26460789058, + 34.327660078785584 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 139.3254699556569, + 1189.76460789058, + 34.327660078785584 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 136.72739374430358, + 1191.26460789058, + 34.327660078785584 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 134.12931753295027, + 1192.76460789058, + 34.327660078785584 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 131.53124132159695, + 1194.26460789058, + 34.327660078785584 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 131.53124132159695, + 1194.26460789058, + 34.327660078785584 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 128.53124132159695, + 1194.26460789058, + 34.327660078785584 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 125.53124132159695, + 1194.26460789058, + 34.327660078785584 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 122.53124132159695, + 1194.26460789058, + 34.327660078785584 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 119.53124132159695, + 1194.26460789058, + 34.327660078785584 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 116.53124132159695, + 1194.26460789058, + 34.327660078785584 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 113.53124132159695, + 1194.26460789058, + 34.327660078785584 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 110.53124132159695, + 1194.26460789058, + 34.327660078785584 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 107.53124132159695, + 1194.26460789058, + 34.327660078785584 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 104.53124132159695, + 1194.26460789058, + 34.327660078785584 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 80.0, + 1204.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_4-46-23_1450099355/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_4-46-23_1450099355/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ad5a702641e3e8f0e9b78f2950d16b9cc3f57259 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_4-46-23_1450099355/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2541.3950974856875, + -1714.6551205461421, + 24.840871155054344 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2543.9931736970407, + -1716.1551205461421, + 24.840871155054344 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2546.591249908394, + -1717.6551205461421, + 24.840871155054344 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2549.189326119747, + -1719.1551205461421, + 24.840871155054344 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2551.7874023311, + -1720.6551205461421, + 24.840871155054344 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2554.3854785424533, + -1722.1551205461421, + 24.840871155054344 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2556.9835547538064, + -1723.6551205461421, + 24.840871155054344 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2559.5816309651595, + -1725.1551205461421, + 24.840871155054344 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2562.1797071765127, + -1726.6551205461421, + 24.840871155054344 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2564.777783387866, + -1728.1551205461421, + 24.840871155054344 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2567.375859599219, + -1729.6551205461421, + 24.840871155054344 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2569.973935810572, + -1731.1551205461421, + 24.840871155054344 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2572.5720120219253, + -1732.6551205461421, + 24.840871155054344 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2575.1700882332784, + -1734.1551205461421, + 24.840871155054344 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2577.7681644446316, + -1735.6551205461421, + 24.840871155054344 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2580.3662406559847, + -1737.1551205461421, + 24.840871155054344 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2582.964316867338, + -1738.6551205461421, + 24.840871155054344 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2585.562393078691, + -1740.1551205461421, + 24.840871155054344 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2588.160469290044, + -1741.6551205461421, + 24.840871155054344 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2590.7585455013973, + -1743.1551205461421, + 24.840871155054344 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2593.3566217127504, + -1744.6551205461421, + 24.840871155054344 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2595.9546979241036, + -1746.1551205461421, + 24.840871155054344 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2598.5527741354567, + -1747.6551205461421, + 24.840871155054344 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2601.15085034681, + -1749.1551205461421, + 24.840871155054344 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2603.748926558163, + -1750.6551205461421, + 24.840871155054344 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2606.347002769516, + -1752.1551205461421, + 24.840871155054344 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2608.9450789808693, + -1753.6551205461421, + 24.840871155054344 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2611.5431551922225, + -1755.1551205461421, + 24.840871155054344 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2614.1412314035756, + -1756.6551205461421, + 24.840871155054344 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2616.7393076149287, + -1758.1551205461421, + 24.840871155054344 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2619.337383826282, + -1759.6551205461421, + 24.840871155054344 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2621.935460037635, + -1761.1551205461421, + 24.840871155054344 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2624.533536248988, + -1762.6551205461421, + 24.840871155054344 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2627.1316124603413, + -1764.1551205461421, + 24.840871155054344 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2629.7296886716945, + -1765.6551205461421, + 24.840871155054344 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -2632.3277648830476, + -1767.1551205461421, + 24.840871155054344 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -2634.9258410944008, + -1768.6551205461421, + 24.840871155054344 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -2637.523917305754, + -1770.1551205461421, + 24.840871155054344 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -2640.121993517107, + -1771.6551205461421, + 24.840871155054344 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -2642.72006972846, + -1773.1551205461421, + 24.840871155054344 + ], + "type": "turn left", + "value": 30, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -2642.72006972846, + -1773.1551205461421, + 24.840871155054344 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931673 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -2644.22006972846, + -1775.7531967574955, + 24.840871155054344 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -2645.72006972846, + -1778.351272968849, + 24.840871155054344 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -2647.22006972846, + -1780.9493491802023, + 24.840871155054344 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -2648.72006972846, + -1783.5474253915556, + 24.840871155054344 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -2650.22006972846, + -1786.145501602909, + 24.840871155054344 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -2650.22006972846, + -1786.145501602909, + 24.840871155054344 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -2652.8181459398133, + -1787.645501602909, + 24.840871155054344 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -2655.4162221511665, + -1789.145501602909, + 24.840871155054344 + ], + "type": "stop", + "value": 0, + "yaw": -2.617993877991466 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2684.0, + -1808.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_4-52-14_625040140/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_4-52-14_625040140/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8be8bc296ad1f2af149376152f5f0b73d8ad6fa3 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_4-52-14_625040140/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1391.8323149395574, + -2431.108318138741, + 32.67612172370655 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1394.4303911509107, + -2429.608318138741, + 32.67612172370655 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1397.028467362264, + -2428.108318138741, + 32.67612172370655 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1399.6265435736175, + -2426.608318138741, + 32.67612172370655 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1402.2246197849709, + -2425.108318138741, + 32.67612172370655 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1404.8226959963242, + -2423.608318138741, + 32.67612172370655 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1407.4207722076776, + -2422.108318138741, + 32.67612172370655 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1410.018848419031, + -2420.608318138741, + 32.67612172370655 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1412.6169246303843, + -2419.108318138741, + 32.67612172370655 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1415.2150008417377, + -2417.608318138741, + 32.67612172370655 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1417.813077053091, + -2416.108318138741, + 32.67612172370655 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1420.4111532644445, + -2414.608318138741, + 32.67612172370655 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1423.0092294757978, + -2413.108318138741, + 32.67612172370655 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1425.6073056871512, + -2411.608318138741, + 32.67612172370655 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1428.2053818985046, + -2410.108318138741, + 32.67612172370655 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1430.803458109858, + -2408.608318138741, + 32.67612172370655 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1433.4015343212113, + -2407.108318138741, + 32.67612172370655 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1435.9996105325647, + -2405.608318138741, + 32.67612172370655 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1438.597686743918, + -2404.108318138741, + 32.67612172370655 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1441.1957629552714, + -2402.608318138741, + 32.67612172370655 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1443.7938391666248, + -2401.108318138741, + 32.67612172370655 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1443.7938391666248, + -2401.108318138741, + 32.67612172370655 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1445.2938391666248, + -2398.510241927388, + 32.67612172370655 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1446.7938391666248, + -2395.912165716035, + 32.67612172370655 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1448.2938391666248, + -2393.3140895046818, + 32.67612172370655 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1449.7938391666248, + -2390.7160132933286, + 32.67612172370655 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1451.2938391666248, + -2388.1179370819755, + 32.67612172370655 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1452.7938391666248, + -2385.5198608706223, + 32.67612172370655 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1454.2938391666248, + -2382.921784659269, + 32.67612172370655 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1455.7938391666248, + -2380.323708447916, + 32.67612172370655 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1457.2938391666248, + -2377.725632236563, + 32.67612172370655 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1458.7938391666248, + -2375.1275560252097, + 32.67612172370655 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1460.2938391666248, + -2372.5294798138566, + 32.67612172370655 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1461.7938391666248, + -2369.9314036025035, + 32.67612172370655 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1463.2938391666248, + -2367.3333273911503, + 32.67612172370655 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1464.7938391666248, + -2364.735251179797, + 32.67612172370655 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1466.2938391666248, + -2362.137174968444, + 32.67612172370655 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1467.7938391666248, + -2359.539098757091, + 32.67612172370655 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1469.2938391666248, + -2356.9410225457377, + 32.67612172370655 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1469.2938391666248, + -2356.9410225457377, + 32.67612172370655 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915224 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1471.8919153779782, + -2355.4410225457377, + 32.67612172370655 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1474.4899915893316, + -2353.9410225457377, + 32.67612172370655 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1477.088067800685, + -2352.4410225457377, + 32.67612172370655 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1477.088067800685, + -2352.4410225457377, + 32.67612172370655 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1480.088067800685, + -2352.4410225457377, + 32.67612172370655 + ], + "type": "stop", + "value": 0, + "yaw": 3.1415926535898024 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1512.0, + -2324.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_4-58-48_1451042659/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_4-58-48_1451042659/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a2c4f6fbdb8e44876018d08f17808369f5e4bf45 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_4-58-48_1451042659/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 658.5513864784497, + 440.2007309259279, + 19.819133323372693 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 655.9533102670964, + 438.7007309259279, + 19.819133323372693 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 653.355234055743, + 437.2007309259279, + 19.819133323372693 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 650.7571578443897, + 435.7007309259279, + 19.819133323372693 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 648.1590816330363, + 434.2007309259279, + 19.819133323372693 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 645.5610054216829, + 432.7007309259279, + 19.819133323372693 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 642.9629292103295, + 431.2007309259279, + 19.819133323372693 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 640.3648529989762, + 429.7007309259279, + 19.819133323372693 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 637.7667767876228, + 428.2007309259279, + 19.819133323372693 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 637.7667767876228, + 428.2007309259279, + 19.819133323372693 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 634.7667767876228, + 428.2007309259279, + 19.819133323372693 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 631.7667767876228, + 428.2007309259279, + 19.819133323372693 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 628.7667767876228, + 428.2007309259279, + 19.819133323372693 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 625.7667767876228, + 428.2007309259279, + 19.819133323372693 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 622.7667767876228, + 428.2007309259279, + 19.819133323372693 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 622.7667767876228, + 428.2007309259279, + 19.819133323372693 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 620.1687005762694, + 426.7007309259279, + 19.819133323372693 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 617.5706243649161, + 425.2007309259279, + 19.819133323372693 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 614.9725481535627, + 423.7007309259279, + 19.819133323372693 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 612.3744719422093, + 422.2007309259279, + 19.819133323372693 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 609.7763957308559, + 420.7007309259279, + 19.819133323372693 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 607.1783195195026, + 419.2007309259279, + 19.819133323372693 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 604.5802433081492, + 417.7007309259279, + 19.819133323372693 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 601.9821670967958, + 416.2007309259279, + 19.819133323372693 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 599.3840908854424, + 414.7007309259279, + 19.819133323372693 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 596.7860146740891, + 413.2007309259279, + 19.819133323372693 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 594.1879384627357, + 411.7007309259279, + 19.819133323372693 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 591.5898622513823, + 410.2007309259279, + 19.819133323372693 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 588.991786040029, + 408.7007309259279, + 19.819133323372693 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 586.3937098286756, + 407.2007309259279, + 19.819133323372693 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 583.7956336173222, + 405.7007309259279, + 19.819133323372693 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 581.1975574059688, + 404.2007309259279, + 19.819133323372693 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 578.5994811946155, + 402.7007309259279, + 19.819133323372693 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 576.0014049832621, + 401.2007309259279, + 19.819133323372693 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 573.4033287719087, + 399.7007309259279, + 19.819133323372693 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 570.8052525605553, + 398.2007309259279, + 19.819133323372693 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 568.207176349202, + 396.7007309259279, + 19.819133323372693 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 565.6091001378486, + 395.2007309259279, + 19.819133323372693 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 563.0110239264952, + 393.7007309259279, + 19.819133323372693 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 560.4129477151419, + 392.2007309259279, + 19.819133323372693 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 557.8148715037885, + 390.7007309259279, + 19.819133323372693 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 555.2167952924351, + 389.2007309259279, + 19.819133323372693 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 552.6187190810817, + 387.7007309259279, + 19.819133323372693 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 550.0206428697284, + 386.2007309259279, + 19.819133323372693 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 550.0206428697284, + 386.2007309259279, + 19.819133323372693 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 547.0206428697284, + 386.2007309259279, + 19.819133323372693 + ], + "type": "stop", + "value": 0, + "yaw": -3.1415926535898024 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 508.0, + 368.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_4-8-11_942724790/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_4-8-11_942724790/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5a229fd42087dc6fe0ab2d6814077454aeee8a06 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_4-8-11_942724790/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 242.8440536947242, + -1800.8986071616134, + 20.843639924404293 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 242.8440536947242, + -1803.8986071616134, + 20.843639924404293 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 242.8440536947242, + -1806.8986071616134, + 20.843639924404293 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 242.8440536947242, + -1809.8986071616134, + 20.843639924404293 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 242.8440536947242, + -1812.8986071616134, + 20.843639924404293 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 242.8440536947242, + -1815.8986071616134, + 20.843639924404293 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 242.8440536947242, + -1818.8986071616134, + 20.843639924404293 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 242.8440536947242, + -1821.8986071616134, + 20.843639924404293 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 242.8440536947242, + -1824.8986071616134, + 20.843639924404293 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 242.8440536947242, + -1827.8986071616134, + 20.843639924404293 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 242.8440536947242, + -1830.8986071616134, + 20.843639924404293 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 242.8440536947242, + -1833.8986071616134, + 20.843639924404293 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 242.8440536947242, + -1836.8986071616134, + 20.843639924404293 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 242.8440536947242, + -1839.8986071616134, + 20.843639924404293 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 242.8440536947242, + -1842.8986071616134, + 20.843639924404293 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 242.8440536947242, + -1845.8986071616134, + 20.843639924404293 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 242.8440536947242, + -1848.8986071616134, + 20.843639924404293 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 242.8440536947242, + -1851.8986071616134, + 20.843639924404293 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 242.8440536947242, + -1854.8986071616134, + 20.843639924404293 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 242.8440536947242, + -1857.8986071616134, + 20.843639924404293 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 242.8440536947242, + -1860.8986071616134, + 20.843639924404293 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 242.8440536947242, + -1863.8986071616134, + 20.843639924404293 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 242.8440536947242, + -1866.8986071616134, + 20.843639924404293 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 242.8440536947242, + -1869.8986071616134, + 20.843639924404293 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 242.8440536947242, + -1872.8986071616134, + 20.843639924404293 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 242.8440536947242, + -1875.8986071616134, + 20.843639924404293 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 242.8440536947242, + -1878.8986071616134, + 20.843639924404293 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 242.8440536947242, + -1881.8986071616134, + 20.843639924404293 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 242.8440536947242, + -1884.8986071616134, + 20.843639924404293 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 242.8440536947242, + -1887.8986071616134, + 20.843639924404293 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 242.8440536947242, + -1890.8986071616134, + 20.843639924404293 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 242.8440536947242, + -1893.8986071616134, + 20.843639924404293 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 242.8440536947242, + -1896.8986071616134, + 20.843639924404293 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 242.8440536947242, + -1899.8986071616134, + 20.843639924404293 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 242.8440536947242, + -1902.8986071616134, + 20.843639924404293 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 242.8440536947242, + -1905.8986071616134, + 20.843639924404293 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 242.8440536947242, + -1908.8986071616134, + 20.843639924404293 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 242.8440536947242, + -1911.8986071616134, + 20.843639924404293 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 242.8440536947242, + -1914.8986071616134, + 20.843639924404293 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 242.8440536947242, + -1917.8986071616134, + 20.843639924404293 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 242.8440536947242, + -1920.8986071616134, + 20.843639924404293 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 242.8440536947242, + -1923.8986071616134, + 20.843639924404293 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 242.8440536947242, + -1926.8986071616134, + 20.843639924404293 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 242.8440536947242, + -1929.8986071616134, + 20.843639924404293 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 242.8440536947242, + -1932.8986071616134, + 20.843639924404293 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 244.0, + -1964.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_4-9-3_1466942491/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_4-9-3_1466942491/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1eb218a7ef0d7292b24bdb057dca011a4c2b79e1 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_4-9-3_1466942491/pose.jsonl @@ -0,0 +1,483 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1709.672369472232, + -2965.8840913736753, + 18.269968027928527 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1708.172369472232, + -2963.286015162322, + 18.269968027928527 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1706.672369472232, + -2960.687938950969, + 18.269968027928527 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1705.172369472232, + -2958.089862739616, + 18.269968027928527 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1703.672369472232, + -2955.4917865282628, + 18.269968027928527 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1702.172369472232, + -2952.8937103169096, + 18.269968027928527 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1700.672369472232, + -2950.2956341055565, + 18.269968027928527 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1699.172369472232, + -2947.6975578942033, + 18.269968027928527 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1697.672369472232, + -2945.09948168285, + 18.269968027928527 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1696.172369472232, + -2942.501405471497, + 18.269968027928527 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1694.672369472232, + -2939.903329260144, + 18.269968027928527 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1693.172369472232, + -2937.3052530487907, + 18.269968027928527 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1691.672369472232, + -2934.7071768374376, + 18.269968027928527 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1690.172369472232, + -2932.1091006260845, + 18.269968027928527 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1688.672369472232, + -2929.5110244147313, + 18.269968027928527 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1687.172369472232, + -2926.912948203378, + 18.269968027928527 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1685.672369472232, + -2924.314871992025, + 18.269968027928527 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1684.172369472232, + -2921.716795780672, + 18.269968027928527 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1682.672369472232, + -2919.1187195693187, + 18.269968027928527 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1681.172369472232, + -2916.5206433579656, + 18.269968027928527 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1679.672369472232, + -2913.9225671466124, + 18.269968027928527 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1678.172369472232, + -2911.3244909352593, + 18.269968027928527 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1676.672369472232, + -2908.726414723906, + 18.269968027928527 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1675.172369472232, + -2906.128338512553, + 18.269968027928527 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1673.672369472232, + -2903.5302623012, + 18.269968027928527 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1672.172369472232, + -2900.9321860898467, + 18.269968027928527 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1670.672369472232, + -2898.3341098784936, + 18.269968027928527 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1669.172369472232, + -2895.7360336671404, + 18.269968027928527 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1667.672369472232, + -2893.1379574557873, + 18.269968027928527 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1666.172369472232, + -2890.539881244434, + 18.269968027928527 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1666.172369472232, + -2890.539881244434, + 18.269968027928527 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915224 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1663.5742932608787, + -2889.039881244434, + 18.269968027928527 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1660.9762170495253, + -2887.539881244434, + 18.269968027928527 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1658.378140838172, + -2886.039881244434, + 18.269968027928527 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1655.7800646268186, + -2884.539881244434, + 18.269968027928527 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1653.1819884154652, + -2883.039881244434, + 18.269968027928527 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1620.0, + -2840.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_5-1-57_242474976/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_5-1-57_242474976/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3b8ae01c3377641ff15d271defdd48b24d8dc440 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_5-1-57_242474976/pose.jsonl @@ -0,0 +1,405 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2268.8551186477016, + -1875.5349696982805, + 26.762364955866424 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2270.3551186477016, + -1872.9368934869271, + 26.762364955866424 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2271.8551186477016, + -1870.3388172755738, + 26.762364955866424 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2273.3551186477016, + -1867.7407410642204, + 26.762364955866424 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2274.8551186477016, + -1865.142664852867, + 26.762364955866424 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2276.3551186477016, + -1862.5445886415137, + 26.762364955866424 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2277.8551186477016, + -1859.9465124301603, + 26.762364955866424 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2279.3551186477016, + -1857.348436218807, + 26.762364955866424 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2280.8551186477016, + -1854.7503600074535, + 26.762364955866424 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 2282.3551186477016, + -1852.1522837961002, + 26.762364955866424 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2283.8551186477016, + -1849.5542075847468, + 26.762364955866424 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2285.3551186477016, + -1846.9561313733934, + 26.762364955866424 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 2286.8551186477016, + -1844.35805516204, + 26.762364955866424 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 2288.3551186477016, + -1841.7599789506867, + 26.762364955866424 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 2289.8551186477016, + -1839.1619027393333, + 26.762364955866424 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 2291.3551186477016, + -1836.56382652798, + 26.762364955866424 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 2292.8551186477016, + -1833.9657503166266, + 26.762364955866424 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 2294.3551186477016, + -1831.3676741052732, + 26.762364955866424 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 2295.8551186477016, + -1828.7695978939198, + 26.762364955866424 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 2297.3551186477016, + -1826.1715216825664, + 26.762364955866424 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 2298.8551186477016, + -1823.573445471213, + 26.762364955866424 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 2300.3551186477016, + -1820.9753692598597, + 26.762364955866424 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 2301.8551186477016, + -1818.3772930485063, + 26.762364955866424 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 2301.8551186477016, + -1818.3772930485063, + 26.762364955866424 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 2301.8551186477016, + -1815.3772930485063, + 26.762364955866424 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 2301.8551186477016, + -1812.3772930485063, + 26.762364955866424 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 2301.8551186477016, + -1809.3772930485063, + 26.762364955866424 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 2301.8551186477016, + -1806.3772930485063, + 26.762364955866424 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 2301.8551186477016, + -1803.3772930485063, + 26.762364955866424 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 2301.8551186477016, + -1800.3772930485063, + 26.762364955866424 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2332.0, + -1736.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_5-12-45_1396005216/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_5-12-45_1396005216/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3758e6ff33c021f13734ef7c2ddf4af1e1e64b4d --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_5-12-45_1396005216/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -906.8495473568846, + -1940.244924505905, + 33.340857852135066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -909.447623568238, + -1938.744924505905, + 33.340857852135066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -912.0456997795914, + -1937.244924505905, + 33.340857852135066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -914.6437759909447, + -1935.744924505905, + 33.340857852135066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -917.2418522022981, + -1934.244924505905, + 33.340857852135066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -919.8399284136515, + -1932.744924505905, + 33.340857852135066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -922.4380046250049, + -1931.244924505905, + 33.340857852135066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -925.0360808363582, + -1929.744924505905, + 33.340857852135066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -927.6341570477116, + -1928.244924505905, + 33.340857852135066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -930.232233259065, + -1926.744924505905, + 33.340857852135066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -932.8303094704183, + -1925.244924505905, + 33.340857852135066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -935.4283856817717, + -1923.744924505905, + 33.340857852135066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -938.0264618931251, + -1922.244924505905, + 33.340857852135066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -940.6245381044785, + -1920.744924505905, + 33.340857852135066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -943.2226143158318, + -1919.244924505905, + 33.340857852135066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -945.8206905271852, + -1917.744924505905, + 33.340857852135066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -948.4187667385386, + -1916.244924505905, + 33.340857852135066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -951.016842949892, + -1914.744924505905, + 33.340857852135066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -953.6149191612453, + -1913.244924505905, + 33.340857852135066 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -953.6149191612453, + -1913.244924505905, + 33.340857852135066 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -956.6149191612453, + -1913.244924505905, + 33.340857852135066 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -959.6149191612453, + -1913.244924505905, + 33.340857852135066 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -962.6149191612453, + -1913.244924505905, + 33.340857852135066 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -965.6149191612453, + -1913.244924505905, + 33.340857852135066 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -968.6149191612453, + -1913.244924505905, + 33.340857852135066 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -971.6149191612453, + -1913.244924505905, + 33.340857852135066 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -974.6149191612453, + -1913.244924505905, + 33.340857852135066 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -977.6149191612453, + -1913.244924505905, + 33.340857852135066 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -980.6149191612453, + -1913.244924505905, + 33.340857852135066 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -983.6149191612453, + -1913.244924505905, + 33.340857852135066 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -986.6149191612453, + -1913.244924505905, + 33.340857852135066 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -989.6149191612453, + -1913.244924505905, + 33.340857852135066 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -992.6149191612453, + -1913.244924505905, + 33.340857852135066 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -995.6149191612453, + -1913.244924505905, + 33.340857852135066 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -998.6149191612453, + -1913.244924505905, + 33.340857852135066 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1001.6149191612453, + -1913.244924505905, + 33.340857852135066 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1004.6149191612453, + -1913.244924505905, + 33.340857852135066 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1007.6149191612453, + -1913.244924505905, + 33.340857852135066 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1010.6149191612453, + -1913.244924505905, + 33.340857852135066 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1013.6149191612453, + -1913.244924505905, + 33.340857852135066 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1016.6149191612453, + -1913.244924505905, + 33.340857852135066 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1019.6149191612453, + -1913.244924505905, + 33.340857852135066 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1022.6149191612453, + -1913.244924505905, + 33.340857852135066 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1025.6149191612453, + -1913.244924505905, + 33.340857852135066 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1028.6149191612453, + -1913.244924505905, + 33.340857852135066 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1031.6149191612453, + -1913.244924505905, + 33.340857852135066 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1068.0, + -1904.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_5-14-7_1116945487/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_5-14-7_1116945487/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6504df7767090064c3ac42431dffbcfd63e1cdb6 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_5-14-7_1116945487/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 351.55268155905617, + 735.11855221064, + 38.37666715882862 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 348.95460534770285, + 736.61855221064, + 38.37666715882862 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 346.35652913634954, + 738.11855221064, + 38.37666715882862 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 343.7584529249962, + 739.61855221064, + 38.37666715882862 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 341.1603767136429, + 741.11855221064, + 38.37666715882862 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 338.5623005022896, + 742.61855221064, + 38.37666715882862 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 335.9642242909363, + 744.11855221064, + 38.37666715882862 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 333.36614807958296, + 745.61855221064, + 38.37666715882862 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 330.76807186822964, + 747.11855221064, + 38.37666715882862 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 328.1699956568763, + 748.61855221064, + 38.37666715882862 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 325.571919445523, + 750.11855221064, + 38.37666715882862 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 322.9738432341697, + 751.61855221064, + 38.37666715882862 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 320.3757670228164, + 753.11855221064, + 38.37666715882862 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 317.77769081146306, + 754.61855221064, + 38.37666715882862 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 315.17961460010974, + 756.11855221064, + 38.37666715882862 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 312.5815383887564, + 757.61855221064, + 38.37666715882862 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 309.9834621774031, + 759.11855221064, + 38.37666715882862 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 307.3853859660498, + 760.61855221064, + 38.37666715882862 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 304.7873097546965, + 762.11855221064, + 38.37666715882862 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 302.18923354334316, + 763.61855221064, + 38.37666715882862 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 299.59115733198985, + 765.11855221064, + 38.37666715882862 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 296.99308112063653, + 766.61855221064, + 38.37666715882862 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 294.3950049092832, + 768.11855221064, + 38.37666715882862 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 291.7969286979299, + 769.61855221064, + 38.37666715882862 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 289.1988524865766, + 771.11855221064, + 38.37666715882862 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 286.60077627522327, + 772.61855221064, + 38.37666715882862 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 284.00270006386995, + 774.11855221064, + 38.37666715882862 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 281.40462385251664, + 775.61855221064, + 38.37666715882862 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 278.8065476411633, + 777.11855221064, + 38.37666715882862 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 276.20847142981, + 778.61855221064, + 38.37666715882862 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 273.6103952184567, + 780.11855221064, + 38.37666715882862 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 271.0123190071034, + 781.61855221064, + 38.37666715882862 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 268.41424279575006, + 783.11855221064, + 38.37666715882862 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 265.81616658439674, + 784.61855221064, + 38.37666715882862 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 263.2180903730434, + 786.11855221064, + 38.37666715882862 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 263.2180903730434, + 786.11855221064, + 38.37666715882862 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 261.7180903730434, + 788.7166284219934, + 38.37666715882862 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 260.2180903730434, + 791.3147046333468, + 38.37666715882862 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 258.7180903730434, + 793.9127808447001, + 38.37666715882862 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 257.2180903730434, + 796.5108570560535, + 38.37666715882862 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 255.71809037304342, + 799.1089332674069, + 38.37666715882862 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 254.21809037304342, + 801.7070094787603, + 38.37666715882862 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 252.71809037304342, + 804.3050856901136, + 38.37666715882862 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 251.21809037304342, + 806.903161901467, + 38.37666715882862 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 249.71809037304342, + 809.5012381128204, + 38.37666715882862 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 248.21809037304342, + 812.0993143241737, + 38.37666715882862 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 246.71809037304342, + 814.6973905355271, + 38.37666715882862 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 245.21809037304342, + 817.2954667468805, + 38.37666715882862 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 216.0, + 844.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_5-16-4_1554725062/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_5-16-4_1554725062/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8cd01b9ab069c31bf854f2dc06473f724f913dcf --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_5-16-4_1554725062/pose.jsonl @@ -0,0 +1,756 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2935.041537102871, + 518.9892928752708, + 31.969464563155523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2932.041537102871, + 518.9892928752708, + 31.969464563155523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2929.041537102871, + 518.9892928752708, + 31.969464563155523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2926.041537102871, + 518.9892928752708, + 31.969464563155523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2923.041537102871, + 518.9892928752708, + 31.969464563155523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2920.041537102871, + 518.9892928752708, + 31.969464563155523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2917.041537102871, + 518.9892928752708, + 31.969464563155523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2914.041537102871, + 518.9892928752708, + 31.969464563155523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2911.041537102871, + 518.9892928752708, + 31.969464563155523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2908.041537102871, + 518.9892928752708, + 31.969464563155523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2905.041537102871, + 518.9892928752708, + 31.969464563155523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2902.041537102871, + 518.9892928752708, + 31.969464563155523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2899.041537102871, + 518.9892928752708, + 31.969464563155523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2896.041537102871, + 518.9892928752708, + 31.969464563155523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2893.041537102871, + 518.9892928752708, + 31.969464563155523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2890.041537102871, + 518.9892928752708, + 31.969464563155523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2887.041537102871, + 518.9892928752708, + 31.969464563155523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2884.041537102871, + 518.9892928752708, + 31.969464563155523 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2884.041537102871, + 518.9892928752708, + 31.969464563155523 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2884.041537102871, + 518.9892928752708, + 31.969464563155523 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2882.541537102871, + 521.5873690866242, + 31.969464563155523 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2881.041537102871, + 524.1854452979776, + 31.969464563155523 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2879.541537102871, + 526.783521509331, + 31.969464563155523 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2879.541537102871, + 526.783521509331, + 31.969464563155523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2876.943460891518, + 528.283521509331, + 31.969464563155523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2874.345384680165, + 529.783521509331, + 31.969464563155523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2871.7473084688118, + 531.283521509331, + 31.969464563155523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2869.1492322574586, + 532.783521509331, + 31.969464563155523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2866.5511560461055, + 534.283521509331, + 31.969464563155523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2863.9530798347523, + 535.783521509331, + 31.969464563155523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2861.355003623399, + 537.283521509331, + 31.969464563155523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2858.756927412046, + 538.783521509331, + 31.969464563155523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2856.158851200693, + 540.283521509331, + 31.969464563155523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2853.5607749893397, + 541.783521509331, + 31.969464563155523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2850.9626987779866, + 543.283521509331, + 31.969464563155523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -2848.3646225666334, + 544.783521509331, + 31.969464563155523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -2845.7665463552803, + 546.283521509331, + 31.969464563155523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -2843.168470143927, + 547.783521509331, + 31.969464563155523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -2840.570393932574, + 549.283521509331, + 31.969464563155523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -2837.972317721221, + 550.783521509331, + 31.969464563155523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -2835.3742415098677, + 552.283521509331, + 31.969464563155523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -2832.7761652985146, + 553.783521509331, + 31.969464563155523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -2830.1780890871614, + 555.283521509331, + 31.969464563155523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -2827.5800128758083, + 556.783521509331, + 31.969464563155523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -2824.981936664455, + 558.283521509331, + 31.969464563155523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -2822.383860453102, + 559.783521509331, + 31.969464563155523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -2819.785784241749, + 561.283521509331, + 31.969464563155523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -2817.1877080303957, + 562.783521509331, + 31.969464563155523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -2814.5896318190426, + 564.283521509331, + 31.969464563155523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -2811.9915556076894, + 565.783521509331, + 31.969464563155523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -2809.3934793963363, + 567.283521509331, + 31.969464563155523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -2806.795403184983, + 568.783521509331, + 31.969464563155523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -2804.19732697363, + 570.283521509331, + 31.969464563155523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -2801.599250762277, + 571.783521509331, + 31.969464563155523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -2799.0011745509237, + 573.283521509331, + 31.969464563155523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -2796.4030983395705, + 574.783521509331, + 31.969464563155523 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -2793.8050221282174, + 576.283521509331, + 31.969464563155523 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755983272 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2776.0, + 584.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_5-2-16_972125383/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_5-2-16_972125383/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..afaac9c7a72d69977078663ca3730855abea2b2a --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_5-2-16_972125383/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1643.061667738494, + 835.1183066546307, + 38.52323806729804 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1645.6597439498473, + 833.6183066546307, + 38.52323806729804 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1648.2578201612007, + 832.1183066546307, + 38.52323806729804 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1650.855896372554, + 830.6183066546307, + 38.52323806729804 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1653.4539725839074, + 829.1183066546307, + 38.52323806729804 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1656.0520487952608, + 827.6183066546307, + 38.52323806729804 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1658.6501250066142, + 826.1183066546307, + 38.52323806729804 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1661.2482012179676, + 824.6183066546307, + 38.52323806729804 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1663.846277429321, + 823.1183066546307, + 38.52323806729804 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1666.4443536406743, + 821.6183066546307, + 38.52323806729804 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1669.0424298520277, + 820.1183066546307, + 38.52323806729804 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1671.640506063381, + 818.6183066546307, + 38.52323806729804 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1674.2385822747344, + 817.1183066546307, + 38.52323806729804 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1676.8366584860878, + 815.6183066546307, + 38.52323806729804 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1679.4347346974412, + 814.1183066546307, + 38.52323806729804 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1682.0328109087945, + 812.6183066546307, + 38.52323806729804 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1684.630887120148, + 811.1183066546307, + 38.52323806729804 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1687.2289633315013, + 809.6183066546307, + 38.52323806729804 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1689.8270395428547, + 808.1183066546307, + 38.52323806729804 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1692.425115754208, + 806.6183066546307, + 38.52323806729804 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1695.0231919655614, + 805.1183066546307, + 38.52323806729804 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1697.6212681769148, + 803.6183066546307, + 38.52323806729804 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1700.2193443882682, + 802.1183066546307, + 38.52323806729804 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1702.8174205996215, + 800.6183066546307, + 38.52323806729804 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1705.415496810975, + 799.1183066546307, + 38.52323806729804 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1705.415496810975, + 799.1183066546307, + 38.52323806729804 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1706.915496810975, + 796.5202304432773, + 38.52323806729804 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1708.415496810975, + 793.922154231924, + 38.52323806729804 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1709.915496810975, + 791.3240780205706, + 38.52323806729804 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1711.415496810975, + 788.7260018092172, + 38.52323806729804 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1712.915496810975, + 786.1279255978639, + 38.52323806729804 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1714.415496810975, + 783.5298493865105, + 38.52323806729804 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1715.915496810975, + 780.9317731751571, + 38.52323806729804 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1717.415496810975, + 778.3336969638037, + 38.52323806729804 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1718.915496810975, + 775.7356207524504, + 38.52323806729804 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1720.415496810975, + 773.137544541097, + 38.52323806729804 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1721.915496810975, + 770.5394683297436, + 38.52323806729804 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1723.415496810975, + 767.9413921183902, + 38.52323806729804 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1724.915496810975, + 765.3433159070369, + 38.52323806729804 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1726.415496810975, + 762.7452396956835, + 38.52323806729804 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1727.915496810975, + 760.1471634843301, + 38.52323806729804 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1729.415496810975, + 757.5490872729767, + 38.52323806729804 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1730.915496810975, + 754.9510110616234, + 38.52323806729804 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1732.415496810975, + 752.35293485027, + 38.52323806729804 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1772.0, + 712.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_5-20-40_52775474/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_5-20-40_52775474/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..35523cba648d0bedee80446fdada4f2ea2eec81b --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_5-20-40_52775474/pose.jsonl @@ -0,0 +1,249 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 337.8421193647253, + 139.5650567496795, + 38.57632112600575 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 334.8421193647253, + 139.5650567496795, + 38.57632112600575 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 331.8421193647253, + 139.5650567496795, + 38.57632112600575 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 328.8421193647253, + 139.5650567496795, + 38.57632112600575 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 325.8421193647253, + 139.5650567496795, + 38.57632112600575 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 322.8421193647253, + 139.5650567496795, + 38.57632112600575 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 319.8421193647253, + 139.5650567496795, + 38.57632112600575 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 316.8421193647253, + 139.5650567496795, + 38.57632112600575 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 313.8421193647253, + 139.5650567496795, + 38.57632112600575 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 310.8421193647253, + 139.5650567496795, + 38.57632112600575 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 310.8421193647253, + 139.5650567496795, + 38.57632112600575 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 308.244043153372, + 138.0650567496795, + 38.57632112600575 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 305.6459669420187, + 136.5650567496795, + 38.57632112600575 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 303.04789073066536, + 135.0650567496795, + 38.57632112600575 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 300.44981451931204, + 133.5650567496795, + 38.57632112600575 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 297.8517383079587, + 132.0650567496795, + 38.57632112600575 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 295.2536620966054, + 130.5650567496795, + 38.57632112600575 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 292.6555858852521, + 129.0650567496795, + 38.57632112600575 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 176.0, + 100.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_5-29-52_1587992726/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_5-29-52_1587992726/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3beadfc0d09e7a2a8d99cab80687069afe13ec49 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_5-29-52_1587992726/pose.jsonl @@ -0,0 +1,1016 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1602.1496931892498, + 165.8070171969013, + 21.838776252451687 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1600.6496931892498, + 163.208940985548, + 21.838776252451687 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1599.1496931892498, + 160.61086477419468, + 21.838776252451687 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1597.6496931892498, + 158.01278856284137, + 21.838776252451687 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1596.1496931892498, + 155.41471235148805, + 21.838776252451687 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1594.6496931892498, + 152.81663614013473, + 21.838776252451687 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1593.1496931892498, + 150.21855992878142, + 21.838776252451687 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1591.6496931892498, + 147.6204837174281, + 21.838776252451687 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1590.1496931892498, + 145.02240750607479, + 21.838776252451687 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1588.6496931892498, + 142.42433129472147, + 21.838776252451687 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1587.1496931892498, + 139.82625508336815, + 21.838776252451687 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1585.6496931892498, + 137.22817887201484, + 21.838776252451687 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1584.1496931892498, + 134.63010266066152, + 21.838776252451687 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1582.6496931892498, + 132.0320264493082, + 21.838776252451687 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1581.1496931892498, + 129.4339502379549, + 21.838776252451687 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1579.6496931892498, + 126.83587402660157, + 21.838776252451687 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1578.1496931892498, + 124.23779781524826, + 21.838776252451687 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1576.6496931892498, + 121.63972160389494, + 21.838776252451687 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1575.1496931892498, + 119.04164539254162, + 21.838776252451687 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1573.6496931892498, + 116.44356918118831, + 21.838776252451687 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1572.1496931892498, + 113.84549296983499, + 21.838776252451687 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1570.6496931892498, + 111.24741675848168, + 21.838776252451687 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1569.1496931892498, + 108.64934054712836, + 21.838776252451687 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1567.6496931892498, + 106.05126433577504, + 21.838776252451687 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1566.1496931892498, + 103.45318812442173, + 21.838776252451687 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1564.6496931892498, + 100.85511191306841, + 21.838776252451687 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1563.1496931892498, + 98.2570357017151, + 21.838776252451687 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1561.6496931892498, + 95.65895949036178, + 21.838776252451687 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1560.1496931892498, + 93.06088327900846, + 21.838776252451687 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1558.6496931892498, + 90.46280706765515, + 21.838776252451687 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1557.1496931892498, + 87.86473085630183, + 21.838776252451687 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1555.6496931892498, + 85.26665464494852, + 21.838776252451687 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1554.1496931892498, + 82.6685784335952, + 21.838776252451687 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1552.6496931892498, + 80.07050222224188, + 21.838776252451687 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1551.1496931892498, + 77.47242601088857, + 21.838776252451687 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1549.6496931892498, + 74.87434979953525, + 21.838776252451687 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1548.1496931892498, + 72.27627358818194, + 21.838776252451687 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1546.6496931892498, + 69.67819737682862, + 21.838776252451687 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1545.1496931892498, + 67.0801211654753, + 21.838776252451687 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1543.6496931892498, + 64.48204495412199, + 21.838776252451687 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1543.6496931892498, + 64.48204495412199, + 21.838776252451687 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1543.6496931892498, + 61.48204495412199, + 21.838776252451687 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1543.6496931892498, + 58.48204495412199, + 21.838776252451687 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1543.6496931892498, + 55.48204495412199, + 21.838776252451687 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1543.6496931892498, + 52.48204495412199, + 21.838776252451687 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1543.6496931892498, + 49.48204495412199, + 21.838776252451687 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1543.6496931892498, + 46.48204495412199, + 21.838776252451687 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1543.6496931892498, + 46.48204495412199, + 21.838776252451687 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1543.6496931892498, + 46.48204495412199, + 21.838776252451687 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1546.2477694006031, + 44.98204495412199, + 21.838776252451687 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1548.8458456119565, + 43.48204495412199, + 21.838776252451687 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1551.44392182331, + 41.98204495412199, + 21.838776252451687 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1554.0419980346633, + 40.48204495412199, + 21.838776252451687 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1554.0419980346633, + 40.48204495412199, + 21.838776252451687 + ], + "type": "turn right", + "value": 30, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1554.0419980346633, + 40.48204495412199, + 21.838776252451687 + ], + "type": "go straight", + "value": 3, + "yaw": -1.570796326794887 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1554.0419980346633, + 37.48204495412199, + 21.838776252451687 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1554.0419980346633, + 34.48204495412199, + 21.838776252451687 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1554.0419980346633, + 31.48204495412199, + 21.838776252451687 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1554.0419980346633, + 31.48204495412199, + 21.838776252451687 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1554.0419980346633, + 31.48204495412199, + 21.838776252451687 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1556.6400742460166, + 29.98204495412199, + 21.838776252451687 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1559.23815045737, + 28.48204495412199, + 21.838776252451687 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1561.8362266687234, + 26.98204495412199, + 21.838776252451687 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1564.4343028800768, + 25.48204495412199, + 21.838776252451687 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1567.0323790914301, + 23.98204495412199, + 21.838776252451687 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1569.6304553027835, + 22.48204495412199, + 21.838776252451687 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 1569.6304553027835, + 22.48204495412199, + 21.838776252451687 + ], + "type": "go straight", + "value": 3, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 1572.6304553027835, + 22.48204495412199, + 21.838776252451687 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 1575.6304553027835, + 22.48204495412199, + 21.838776252451687 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 1578.6304553027835, + 22.48204495412199, + 21.838776252451687 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 1581.6304553027835, + 22.48204495412199, + 21.838776252451687 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 1584.6304553027835, + 22.48204495412199, + 21.838776252451687 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 1587.6304553027835, + 22.48204495412199, + 21.838776252451687 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 1590.6304553027835, + 22.48204495412199, + 21.838776252451687 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 1590.6304553027835, + 22.48204495412199, + 21.838776252451687 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 1590.6304553027835, + 22.48204495412199, + 21.838776252451687 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 1592.1304553027835, + 19.883968742768673, + 21.838776252451687 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965976 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1592.0, + -8.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_5-33-29_461152493/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_5-33-29_461152493/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a59615caa1fbb90a589f34bfd0162bd55f772015 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_5-33-29_461152493/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 674.9110994294391, + -570.2604568694959, + 35.74054853785691 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 672.3130232180858, + -568.7604568694959, + 35.74054853785691 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 669.7149470067325, + -567.2604568694959, + 35.74054853785691 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 667.1168707953791, + -565.7604568694959, + 35.74054853785691 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 664.5187945840257, + -564.2604568694959, + 35.74054853785691 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 664.5187945840257, + -564.2604568694959, + 35.74054853785691 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 661.5187945840257, + -564.2604568694959, + 35.74054853785691 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 658.5187945840257, + -564.2604568694959, + 35.74054853785691 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 655.5187945840257, + -564.2604568694959, + 35.74054853785691 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 652.5187945840257, + -564.2604568694959, + 35.74054853785691 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 649.5187945840257, + -564.2604568694959, + 35.74054853785691 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 646.5187945840257, + -564.2604568694959, + 35.74054853785691 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 643.5187945840257, + -564.2604568694959, + 35.74054853785691 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 640.5187945840257, + -564.2604568694959, + 35.74054853785691 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 637.5187945840257, + -564.2604568694959, + 35.74054853785691 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 634.5187945840257, + -564.2604568694959, + 35.74054853785691 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 631.5187945840257, + -564.2604568694959, + 35.74054853785691 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 628.5187945840257, + -564.2604568694959, + 35.74054853785691 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 625.5187945840257, + -564.2604568694959, + 35.74054853785691 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 622.5187945840257, + -564.2604568694959, + 35.74054853785691 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 619.5187945840257, + -564.2604568694959, + 35.74054853785691 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 616.5187945840257, + -564.2604568694959, + 35.74054853785691 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 613.5187945840257, + -564.2604568694959, + 35.74054853785691 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 610.5187945840257, + -564.2604568694959, + 35.74054853785691 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 607.5187945840257, + -564.2604568694959, + 35.74054853785691 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 604.5187945840257, + -564.2604568694959, + 35.74054853785691 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 601.5187945840257, + -564.2604568694959, + 35.74054853785691 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 598.5187945840257, + -564.2604568694959, + 35.74054853785691 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 595.5187945840257, + -564.2604568694959, + 35.74054853785691 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 592.5187945840257, + -564.2604568694959, + 35.74054853785691 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 592.5187945840257, + -564.2604568694959, + 35.74054853785691 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 589.9207183726724, + -562.7604568694959, + 35.74054853785691 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 587.322642161319, + -561.2604568694959, + 35.74054853785691 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 584.7245659499656, + -559.7604568694959, + 35.74054853785691 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 582.1264897386122, + -558.2604568694959, + 35.74054853785691 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 579.5284135272589, + -556.7604568694959, + 35.74054853785691 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 576.9303373159055, + -555.2604568694959, + 35.74054853785691 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 574.3322611045521, + -553.7604568694959, + 35.74054853785691 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 571.7341848931987, + -552.2604568694959, + 35.74054853785691 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 569.1361086818454, + -550.7604568694959, + 35.74054853785691 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 566.538032470492, + -549.2604568694959, + 35.74054853785691 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 563.9399562591386, + -547.7604568694959, + 35.74054853785691 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 561.3418800477853, + -546.2604568694959, + 35.74054853785691 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 558.7438038364319, + -544.7604568694959, + 35.74054853785691 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 556.1457276250785, + -543.2604568694959, + 35.74054853785691 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 553.5476514137251, + -541.7604568694959, + 35.74054853785691 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 550.9495752023718, + -540.2604568694959, + 35.74054853785691 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 548.3514989910184, + -538.7604568694959, + 35.74054853785691 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 545.753422779665, + -537.2604568694959, + 35.74054853785691 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 545.753422779665, + -537.2604568694959, + 35.74054853785691 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 544.253422779665, + -534.6623806581426, + 35.74054853785691 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 542.753422779665, + -532.0643044467893, + 35.74054853785691 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 541.253422779665, + -529.4662282354359, + 35.74054853785691 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 539.753422779665, + -526.8681520240825, + 35.74054853785691 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 508.0, + -516.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_5-38-9_1403938270/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_5-38-9_1403938270/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..020481f56ca49d4f4fe98beccd8a05cfe428b1c1 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_5-38-9_1403938270/pose.jsonl @@ -0,0 +1,496 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -621.6562432878231, + 2065.750905747172, + 31.599263999595443 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -624.2543194991765, + 2067.250905747172, + 31.599263999595443 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -624.2543194991765, + 2067.250905747172, + 31.599263999595443 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -625.7543194991765, + 2069.848981958525, + 31.599263999595443 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -627.2543194991765, + 2072.4470581698783, + 31.599263999595443 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -627.2543194991765, + 2072.4470581698783, + 31.599263999595443 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915224 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -629.8523957105299, + 2073.9470581698783, + 31.599263999595443 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -632.4504719218833, + 2075.4470581698783, + 31.599263999595443 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -635.0485481332366, + 2076.9470581698783, + 31.599263999595443 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -637.64662434459, + 2078.4470581698783, + 31.599263999595443 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -640.2447005559434, + 2079.9470581698783, + 31.599263999595443 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -642.8427767672968, + 2081.4470581698783, + 31.599263999595443 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -645.4408529786501, + 2082.9470581698783, + 31.599263999595443 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -648.0389291900035, + 2084.4470581698783, + 31.599263999595443 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -650.6370054013569, + 2085.9470581698783, + 31.599263999595443 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -653.2350816127102, + 2087.4470581698783, + 31.599263999595443 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -655.8331578240636, + 2088.9470581698783, + 31.599263999595443 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -658.431234035417, + 2090.4470581698783, + 31.599263999595443 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -658.431234035417, + 2090.4470581698783, + 31.599263999595443 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -661.431234035417, + 2090.4470581698783, + 31.599263999595443 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -664.431234035417, + 2090.4470581698783, + 31.599263999595443 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -667.431234035417, + 2090.4470581698783, + 31.599263999595443 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -670.431234035417, + 2090.4470581698783, + 31.599263999595443 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -673.431234035417, + 2090.4470581698783, + 31.599263999595443 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -676.431234035417, + 2090.4470581698783, + 31.599263999595443 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -679.431234035417, + 2090.4470581698783, + 31.599263999595443 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -682.431234035417, + 2090.4470581698783, + 31.599263999595443 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -685.431234035417, + 2090.4470581698783, + 31.599263999595443 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -688.431234035417, + 2090.4470581698783, + 31.599263999595443 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -691.431234035417, + 2090.4470581698783, + 31.599263999595443 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -694.431234035417, + 2090.4470581698783, + 31.599263999595443 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -697.431234035417, + 2090.4470581698783, + 31.599263999595443 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -700.431234035417, + 2090.4470581698783, + 31.599263999595443 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -703.431234035417, + 2090.4470581698783, + 31.599263999595443 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -706.431234035417, + 2090.4470581698783, + 31.599263999595443 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -709.431234035417, + 2090.4470581698783, + 31.599263999595443 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -712.431234035417, + 2090.4470581698783, + 31.599263999595443 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -788.0, + 2108.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_5-4-2_1840019304/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_5-4-2_1840019304/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..68bebf345bdbc976ea195b8ebc63392204901095 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_5-4-2_1840019304/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2549.574208598152, + 2313.317372449748, + 34.128893875580914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2546.574208598152, + 2313.317372449748, + 34.128893875580914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2543.574208598152, + 2313.317372449748, + 34.128893875580914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2540.574208598152, + 2313.317372449748, + 34.128893875580914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2537.574208598152, + 2313.317372449748, + 34.128893875580914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2534.574208598152, + 2313.317372449748, + 34.128893875580914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2531.574208598152, + 2313.317372449748, + 34.128893875580914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2528.574208598152, + 2313.317372449748, + 34.128893875580914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2525.574208598152, + 2313.317372449748, + 34.128893875580914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2522.574208598152, + 2313.317372449748, + 34.128893875580914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2519.574208598152, + 2313.317372449748, + 34.128893875580914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2516.574208598152, + 2313.317372449748, + 34.128893875580914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2513.574208598152, + 2313.317372449748, + 34.128893875580914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2510.574208598152, + 2313.317372449748, + 34.128893875580914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2507.574208598152, + 2313.317372449748, + 34.128893875580914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2504.574208598152, + 2313.317372449748, + 34.128893875580914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2501.574208598152, + 2313.317372449748, + 34.128893875580914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2498.574208598152, + 2313.317372449748, + 34.128893875580914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2495.574208598152, + 2313.317372449748, + 34.128893875580914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2492.574208598152, + 2313.317372449748, + 34.128893875580914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2489.574208598152, + 2313.317372449748, + 34.128893875580914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2486.574208598152, + 2313.317372449748, + 34.128893875580914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2483.574208598152, + 2313.317372449748, + 34.128893875580914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2480.574208598152, + 2313.317372449748, + 34.128893875580914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2477.574208598152, + 2313.317372449748, + 34.128893875580914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2474.574208598152, + 2313.317372449748, + 34.128893875580914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2471.574208598152, + 2313.317372449748, + 34.128893875580914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2468.574208598152, + 2313.317372449748, + 34.128893875580914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2465.574208598152, + 2313.317372449748, + 34.128893875580914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2462.574208598152, + 2313.317372449748, + 34.128893875580914 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2462.574208598152, + 2313.317372449748, + 34.128893875580914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2459.976132386799, + 2314.817372449748, + 34.128893875580914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2457.3780561754456, + 2316.317372449748, + 34.128893875580914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2454.7799799640925, + 2317.817372449748, + 34.128893875580914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2452.1819037527393, + 2319.317372449748, + 34.128893875580914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -2449.583827541386, + 2320.817372449748, + 34.128893875580914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -2446.985751330033, + 2322.317372449748, + 34.128893875580914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -2444.38767511868, + 2323.817372449748, + 34.128893875580914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -2441.7895989073268, + 2325.317372449748, + 34.128893875580914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -2439.1915226959736, + 2326.817372449748, + 34.128893875580914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -2436.5934464846205, + 2328.317372449748, + 34.128893875580914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -2433.9953702732673, + 2329.817372449748, + 34.128893875580914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -2431.397294061914, + 2331.317372449748, + 34.128893875580914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -2428.799217850561, + 2332.817372449748, + 34.128893875580914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -2426.201141639208, + 2334.317372449748, + 34.128893875580914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -2423.6030654278547, + 2335.817372449748, + 34.128893875580914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -2421.0049892165016, + 2337.317372449748, + 34.128893875580914 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755983272 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2384.0, + 2344.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_5-4-31_1953161956/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_5-4-31_1953161956/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e9981d9176b109ed612c180cbc13f3293a5ac847 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_5-4-31_1953161956/pose.jsonl @@ -0,0 +1,795 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4654.471780894462, + 900.2167610508711, + 19.326907447677186 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4657.069857105816, + 898.7167610508711, + 19.326907447677186 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4659.667933317169, + 897.2167610508711, + 19.326907447677186 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4662.266009528522, + 895.7167610508711, + 19.326907447677186 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4664.864085739875, + 894.2167610508711, + 19.326907447677186 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4667.462161951228, + 892.7167610508711, + 19.326907447677186 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4670.060238162581, + 891.2167610508711, + 19.326907447677186 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4672.658314373934, + 889.7167610508711, + 19.326907447677186 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4672.658314373934, + 889.7167610508711, + 19.326907447677186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.842170943040401e-14 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4675.658314373934, + 889.7167610508711, + 19.326907447677186 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4678.658314373934, + 889.7167610508711, + 19.326907447677186 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4681.658314373934, + 889.7167610508711, + 19.326907447677186 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4684.658314373934, + 889.7167610508711, + 19.326907447677186 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4684.658314373934, + 889.7167610508711, + 19.326907447677186 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4684.658314373934, + 889.7167610508711, + 19.326907447677186 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4686.158314373934, + 887.1186848395178, + 19.326907447677186 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 4687.658314373934, + 884.5206086281644, + 19.326907447677186 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 4687.658314373934, + 884.5206086281644, + 19.326907447677186 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 4687.658314373934, + 881.5206086281644, + 19.326907447677186 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 4687.658314373934, + 878.5206086281644, + 19.326907447677186 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 4687.658314373934, + 875.5206086281644, + 19.326907447677186 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 4687.658314373934, + 872.5206086281644, + 19.326907447677186 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 4687.658314373934, + 869.5206086281644, + 19.326907447677186 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 4687.658314373934, + 866.5206086281644, + 19.326907447677186 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 4687.658314373934, + 863.5206086281644, + 19.326907447677186 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 4687.658314373934, + 860.5206086281644, + 19.326907447677186 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 4687.658314373934, + 857.5206086281644, + 19.326907447677186 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 4687.658314373934, + 854.5206086281644, + 19.326907447677186 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 4687.658314373934, + 851.5206086281644, + 19.326907447677186 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 4687.658314373934, + 848.5206086281644, + 19.326907447677186 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 4687.658314373934, + 845.5206086281644, + 19.326907447677186 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 4687.658314373934, + 842.5206086281644, + 19.326907447677186 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 4687.658314373934, + 839.5206086281644, + 19.326907447677186 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 4687.658314373934, + 836.5206086281644, + 19.326907447677186 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 4687.658314373934, + 833.5206086281644, + 19.326907447677186 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 4687.658314373934, + 830.5206086281644, + 19.326907447677186 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 4687.658314373934, + 827.5206086281644, + 19.326907447677186 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 4687.658314373934, + 824.5206086281644, + 19.326907447677186 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 4687.658314373934, + 821.5206086281644, + 19.326907447677186 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 4687.658314373934, + 818.5206086281644, + 19.326907447677186 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 4687.658314373934, + 815.5206086281644, + 19.326907447677186 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 4687.658314373934, + 812.5206086281644, + 19.326907447677186 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 4687.658314373934, + 809.5206086281644, + 19.326907447677186 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 4687.658314373934, + 806.5206086281644, + 19.326907447677186 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 4687.658314373934, + 803.5206086281644, + 19.326907447677186 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 4687.658314373934, + 800.5206086281644, + 19.326907447677186 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 4687.658314373934, + 797.5206086281644, + 19.326907447677186 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 4687.658314373934, + 794.5206086281644, + 19.326907447677186 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 4687.658314373934, + 794.5206086281644, + 19.326907447677186 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 4687.658314373934, + 794.5206086281644, + 19.326907447677186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 4685.060238162581, + 793.0206086281644, + 19.326907447677186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 4682.462161951228, + 791.5206086281644, + 19.326907447677186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 4679.864085739875, + 790.0206086281644, + 19.326907447677186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 4677.266009528522, + 788.5206086281644, + 19.326907447677186 + ], + "type": "turn left", + "value": 30, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 4677.266009528522, + 788.5206086281644, + 19.326907447677186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931673 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 4675.766009528522, + 785.922532416811, + 19.326907447677186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 4674.266009528522, + 783.3244562054576, + 19.326907447677186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 4672.766009528522, + 780.7263799941043, + 19.326907447677186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 4671.266009528522, + 778.1283037827509, + 19.326907447677186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 4669.766009528522, + 775.5302275713975, + 19.326907447677186 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4672.0, + 740.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_5-40-38_1107096180/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_5-40-38_1107096180/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..02368814590478311d5bab5291ce9e87ff463c41 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_5-40-38_1107096180/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1082.049398520017, + -2517.984986138719, + 39.533542337515314 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1080.549398520017, + -2515.3869099273657, + 39.533542337515314 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1079.049398520017, + -2512.7888337160125, + 39.533542337515314 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1077.549398520017, + -2510.1907575046594, + 39.533542337515314 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1076.049398520017, + -2507.592681293306, + 39.533542337515314 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1074.549398520017, + -2504.994605081953, + 39.533542337515314 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1073.049398520017, + -2502.3965288706, + 39.533542337515314 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1071.549398520017, + -2499.798452659247, + 39.533542337515314 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1070.049398520017, + -2497.2003764478936, + 39.533542337515314 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1070.049398520017, + -2497.2003764478936, + 39.533542337515314 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948681 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1070.049398520017, + -2494.2003764478936, + 39.533542337515314 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1070.049398520017, + -2491.2003764478936, + 39.533542337515314 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1070.049398520017, + -2488.2003764478936, + 39.533542337515314 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1070.049398520017, + -2485.2003764478936, + 39.533542337515314 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1070.049398520017, + -2482.2003764478936, + 39.533542337515314 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1070.049398520017, + -2479.2003764478936, + 39.533542337515314 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1070.049398520017, + -2476.2003764478936, + 39.533542337515314 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1070.049398520017, + -2473.2003764478936, + 39.533542337515314 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1070.049398520017, + -2470.2003764478936, + 39.533542337515314 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1070.049398520017, + -2467.2003764478936, + 39.533542337515314 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1070.049398520017, + -2464.2003764478936, + 39.533542337515314 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1070.049398520017, + -2461.2003764478936, + 39.533542337515314 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1070.049398520017, + -2458.2003764478936, + 39.533542337515314 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1070.049398520017, + -2455.2003764478936, + 39.533542337515314 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1070.049398520017, + -2452.2003764478936, + 39.533542337515314 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1070.049398520017, + -2449.2003764478936, + 39.533542337515314 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1070.049398520017, + -2446.2003764478936, + 39.533542337515314 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1070.049398520017, + -2443.2003764478936, + 39.533542337515314 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1070.049398520017, + -2440.2003764478936, + 39.533542337515314 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1070.049398520017, + -2437.2003764478936, + 39.533542337515314 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1070.049398520017, + -2434.2003764478936, + 39.533542337515314 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1070.049398520017, + -2431.2003764478936, + 39.533542337515314 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1070.049398520017, + -2428.2003764478936, + 39.533542337515314 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1070.049398520017, + -2425.2003764478936, + 39.533542337515314 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1070.049398520017, + -2422.2003764478936, + 39.533542337515314 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1070.049398520017, + -2419.2003764478936, + 39.533542337515314 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1070.049398520017, + -2419.2003764478936, + 39.533542337515314 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1070.049398520017, + -2419.2003764478936, + 39.533542337515314 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1067.4513223086635, + -2417.7003764478936, + 39.533542337515314 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1064.8532460973101, + -2416.2003764478936, + 39.533542337515314 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1062.2551698859568, + -2414.7003764478936, + 39.533542337515314 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1059.6570936746034, + -2413.2003764478936, + 39.533542337515314 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1057.05901746325, + -2411.7003764478936, + 39.533542337515314 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1054.4609412518967, + -2410.2003764478936, + 39.533542337515314 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1051.8628650405433, + -2408.7003764478936, + 39.533542337515314 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1049.26478882919, + -2407.2003764478936, + 39.533542337515314 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1046.6667126178365, + -2405.7003764478936, + 39.533542337515314 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1044.0686364064832, + -2404.2003764478936, + 39.533542337515314 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1041.4705601951298, + -2402.7003764478936, + 39.533542337515314 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1041.4705601951298, + -2402.7003764478936, + 39.533542337515314 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -1039.9705601951298, + -2400.1023002365405, + 39.533542337515314 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -1038.4705601951298, + -2397.5042240251873, + 39.533542337515314 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -1036.9705601951298, + -2394.906147813834, + 39.533542337515314 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965694 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1028.0, + -2376.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_5-47-36_1111800030/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_5-47-36_1111800030/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3a18ff4cc8a0a5f18b0eb6b2f6031cdd17c7907e --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_5-47-36_1111800030/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3756.521929214474, + 955.103772717797, + 27.90880930475894 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3756.521929214474, + 958.103772717797, + 27.90880930475894 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3756.521929214474, + 961.103772717797, + 27.90880930475894 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3756.521929214474, + 964.103772717797, + 27.90880930475894 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3756.521929214474, + 967.103772717797, + 27.90880930475894 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3756.521929214474, + 970.103772717797, + 27.90880930475894 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3756.521929214474, + 973.103772717797, + 27.90880930475894 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3756.521929214474, + 976.103772717797, + 27.90880930475894 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 3756.521929214474, + 979.103772717797, + 27.90880930475894 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 3756.521929214474, + 982.103772717797, + 27.90880930475894 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 3756.521929214474, + 985.103772717797, + 27.90880930475894 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 3756.521929214474, + 988.103772717797, + 27.90880930475894 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 3756.521929214474, + 991.103772717797, + 27.90880930475894 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 3756.521929214474, + 994.103772717797, + 27.90880930475894 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 3756.521929214474, + 997.103772717797, + 27.90880930475894 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 3756.521929214474, + 1000.103772717797, + 27.90880930475894 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 3756.521929214474, + 1003.103772717797, + 27.90880930475894 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 3756.521929214474, + 1006.103772717797, + 27.90880930475894 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 3756.521929214474, + 1009.103772717797, + 27.90880930475894 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 3756.521929214474, + 1012.103772717797, + 27.90880930475894 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 3756.521929214474, + 1015.103772717797, + 27.90880930475894 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 3756.521929214474, + 1018.103772717797, + 27.90880930475894 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 3756.521929214474, + 1021.103772717797, + 27.90880930475894 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 3756.521929214474, + 1024.103772717797, + 27.90880930475894 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 3756.521929214474, + 1027.103772717797, + 27.90880930475894 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 3756.521929214474, + 1030.103772717797, + 27.90880930475894 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 3756.521929214474, + 1033.103772717797, + 27.90880930475894 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 3756.521929214474, + 1036.103772717797, + 27.90880930475894 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 3756.521929214474, + 1039.103772717797, + 27.90880930475894 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 3756.521929214474, + 1042.103772717797, + 27.90880930475894 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 3756.521929214474, + 1045.103772717797, + 27.90880930475894 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 3756.521929214474, + 1048.103772717797, + 27.90880930475894 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 3756.521929214474, + 1051.103772717797, + 27.90880930475894 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 3756.521929214474, + 1054.103772717797, + 27.90880930475894 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 3756.521929214474, + 1057.103772717797, + 27.90880930475894 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 3756.521929214474, + 1060.103772717797, + 27.90880930475894 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 3756.521929214474, + 1063.103772717797, + 27.90880930475894 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 3756.521929214474, + 1066.103772717797, + 27.90880930475894 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 3756.521929214474, + 1069.103772717797, + 27.90880930475894 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 3756.521929214474, + 1072.103772717797, + 27.90880930475894 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 3756.521929214474, + 1075.103772717797, + 27.90880930475894 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 3756.521929214474, + 1075.103772717797, + 27.90880930475894 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 3758.021929214474, + 1077.7018489291504, + 27.90880930475894 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 3759.521929214474, + 1080.2999251405038, + 27.90880930475894 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 3761.021929214474, + 1082.8980013518571, + 27.90880930475894 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 3762.521929214474, + 1085.4960775632105, + 27.90880930475894 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 3764.021929214474, + 1088.094153774564, + 27.90880930475894 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 3765.521929214474, + 1090.6922299859173, + 27.90880930475894 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3768.0, + 1120.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_5-48-6_1984498433/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_5-48-6_1984498433/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1d3964113be368abb1d579c59a4ec205039c5e23 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_5-48-6_1984498433/pose.jsonl @@ -0,0 +1,522 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -287.50744422671255, + 233.61645787216221, + 14.063682982374315 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -287.50744422671255, + 236.61645787216221, + 14.063682982374315 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -287.50744422671255, + 239.61645787216221, + 14.063682982374315 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -287.50744422671255, + 242.61645787216221, + 14.063682982374315 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -287.50744422671255, + 245.61645787216221, + 14.063682982374315 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -287.50744422671255, + 248.61645787216221, + 14.063682982374315 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -287.50744422671255, + 251.61645787216221, + 14.063682982374315 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -287.50744422671255, + 254.61645787216221, + 14.063682982374315 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -287.50744422671255, + 257.6164578721622, + 14.063682982374315 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -287.50744422671255, + 260.6164578721622, + 14.063682982374315 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -287.50744422671255, + 263.6164578721622, + 14.063682982374315 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -287.50744422671255, + 266.6164578721622, + 14.063682982374315 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -287.50744422671255, + 269.6164578721622, + 14.063682982374315 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -287.50744422671255, + 272.6164578721622, + 14.063682982374315 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -287.50744422671255, + 275.6164578721622, + 14.063682982374315 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -287.50744422671255, + 278.6164578721622, + 14.063682982374315 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -287.50744422671255, + 281.6164578721622, + 14.063682982374315 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -287.50744422671255, + 284.6164578721622, + 14.063682982374315 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -287.50744422671255, + 287.6164578721622, + 14.063682982374315 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -287.50744422671255, + 290.6164578721622, + 14.063682982374315 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -287.50744422671255, + 293.6164578721622, + 14.063682982374315 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -287.50744422671255, + 296.6164578721622, + 14.063682982374315 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -287.50744422671255, + 299.6164578721622, + 14.063682982374315 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -287.50744422671255, + 302.6164578721622, + 14.063682982374315 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -287.50744422671255, + 305.6164578721622, + 14.063682982374315 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -287.50744422671255, + 308.6164578721622, + 14.063682982374315 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -287.50744422671255, + 311.6164578721622, + 14.063682982374315 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -287.50744422671255, + 314.6164578721622, + 14.063682982374315 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -287.50744422671255, + 317.6164578721622, + 14.063682982374315 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -287.50744422671255, + 320.6164578721622, + 14.063682982374315 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -287.50744422671255, + 323.6164578721622, + 14.063682982374315 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -287.50744422671255, + 326.6164578721622, + 14.063682982374315 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -287.50744422671255, + 329.6164578721622, + 14.063682982374315 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -287.50744422671255, + 332.6164578721622, + 14.063682982374315 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -287.50744422671255, + 335.6164578721622, + 14.063682982374315 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -287.50744422671255, + 338.6164578721622, + 14.063682982374315 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -287.50744422671255, + 341.6164578721622, + 14.063682982374315 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -287.50744422671255, + 344.6164578721622, + 14.063682982374315 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -287.50744422671255, + 347.6164578721622, + 14.063682982374315 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -288.0, + 404.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_5-52-21_1015857464/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_5-52-21_1015857464/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c12c9bf633f540155f4776349f8e033be49250f8 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_5-52-21_1015857464/pose.jsonl @@ -0,0 +1,132 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1188.2571243035645, + 2113.5966628633605, + 19.36547140656149 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1191.2571243035645, + 2113.5966628633605, + 19.36547140656149 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1194.2571243035645, + 2113.5966628633605, + 19.36547140656149 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1197.2571243035645, + 2113.5966628633605, + 19.36547140656149 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1200.2571243035645, + 2113.5966628633605, + 19.36547140656149 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1203.2571243035645, + 2113.5966628633605, + 19.36547140656149 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1206.2571243035645, + 2113.5966628633605, + 19.36547140656149 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1209.2571243035645, + 2113.5966628633605, + 19.36547140656149 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1212.2571243035645, + 2113.5966628633605, + 19.36547140656149 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1368.0, + 2104.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_5-53-4_1698487330/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_5-53-4_1698487330/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fa539f08049b39f6d3f4e22cf9edadacc1a9ebf4 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_5-53-4_1698487330/pose.jsonl @@ -0,0 +1,574 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -952.7001233227033, + 221.23522941727765, + 18.434291691457766 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -955.7001233227033, + 221.23522941727765, + 18.434291691457766 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -958.7001233227033, + 221.23522941727765, + 18.434291691457766 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -961.7001233227033, + 221.23522941727765, + 18.434291691457766 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -964.7001233227033, + 221.23522941727765, + 18.434291691457766 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -967.7001233227033, + 221.23522941727765, + 18.434291691457766 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -970.7001233227033, + 221.23522941727765, + 18.434291691457766 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -973.7001233227033, + 221.23522941727765, + 18.434291691457766 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -976.7001233227033, + 221.23522941727765, + 18.434291691457766 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -979.7001233227033, + 221.23522941727765, + 18.434291691457766 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -982.7001233227033, + 221.23522941727765, + 18.434291691457766 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -985.7001233227033, + 221.23522941727765, + 18.434291691457766 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -988.7001233227033, + 221.23522941727765, + 18.434291691457766 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -991.7001233227033, + 221.23522941727765, + 18.434291691457766 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -994.7001233227033, + 221.23522941727765, + 18.434291691457766 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -997.7001233227033, + 221.23522941727765, + 18.434291691457766 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1000.7001233227033, + 221.23522941727765, + 18.434291691457766 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1003.7001233227033, + 221.23522941727765, + 18.434291691457766 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1006.7001233227033, + 221.23522941727765, + 18.434291691457766 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1009.7001233227033, + 221.23522941727765, + 18.434291691457766 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1012.7001233227033, + 221.23522941727765, + 18.434291691457766 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1015.7001233227033, + 221.23522941727765, + 18.434291691457766 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1018.7001233227033, + 221.23522941727765, + 18.434291691457766 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1021.7001233227033, + 221.23522941727765, + 18.434291691457766 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1024.7001233227033, + 221.23522941727765, + 18.434291691457766 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1027.7001233227033, + 221.23522941727765, + 18.434291691457766 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1030.7001233227033, + 221.23522941727765, + 18.434291691457766 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1033.7001233227033, + 221.23522941727765, + 18.434291691457766 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1033.7001233227033, + 221.23522941727765, + 18.434291691457766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1036.2981995340567, + 222.73522941727765, + 18.434291691457766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1038.89627574541, + 224.23522941727765, + 18.434291691457766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1041.4943519567635, + 225.73522941727765, + 18.434291691457766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1044.0924281681168, + 227.23522941727765, + 18.434291691457766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1046.6905043794702, + 228.73522941727765, + 18.434291691457766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1049.2885805908236, + 230.23522941727765, + 18.434291691457766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1051.886656802177, + 231.73522941727765, + 18.434291691457766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1054.4847330135303, + 233.23522941727765, + 18.434291691457766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1057.0828092248837, + 234.73522941727765, + 18.434291691457766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1059.680885436237, + 236.23522941727765, + 18.434291691457766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1062.2789616475904, + 237.73522941727765, + 18.434291691457766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1064.8770378589438, + 239.23522941727765, + 18.434291691457766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1067.4751140702972, + 240.73522941727765, + 18.434291691457766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1070.0731902816506, + 242.23522941727765, + 18.434291691457766 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1128.0, + 256.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_5-54-3_1666231349/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_5-54-3_1666231349/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1fb31af58dc61d9d8a5a690948f99f1ec1d98bda --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_5-54-3_1666231349/pose.jsonl @@ -0,0 +1,886 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2462.388194961944, + -1778.2883829350085, + 23.778790959123736 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2460.888194961944, + -1780.8864591463619, + 23.778790959123736 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2459.388194961944, + -1783.4845353577152, + 23.778790959123736 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2457.888194961944, + -1786.0826115690686, + 23.778790959123736 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2456.388194961944, + -1788.680687780422, + 23.778790959123736 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2454.888194961944, + -1791.2787639917753, + 23.778790959123736 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2453.388194961944, + -1793.8768402031287, + 23.778790959123736 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2451.888194961944, + -1796.474916414482, + 23.778790959123736 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2450.388194961944, + -1799.0729926258355, + 23.778790959123736 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2448.888194961944, + -1801.6710688371888, + 23.778790959123736 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2448.888194961944, + -1801.6710688371888, + 23.778790959123736 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2448.888194961944, + -1804.6710688371888, + 23.778790959123736 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2448.888194961944, + -1807.6710688371888, + 23.778790959123736 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2448.888194961944, + -1810.6710688371888, + 23.778790959123736 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2448.888194961944, + -1813.6710688371888, + 23.778790959123736 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2448.888194961944, + -1816.6710688371888, + 23.778790959123736 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2448.888194961944, + -1819.6710688371888, + 23.778790959123736 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2448.888194961944, + -1822.6710688371888, + 23.778790959123736 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2448.888194961944, + -1825.6710688371888, + 23.778790959123736 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2448.888194961944, + -1828.6710688371888, + 23.778790959123736 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2448.888194961944, + -1831.6710688371888, + 23.778790959123736 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2448.888194961944, + -1834.6710688371888, + 23.778790959123736 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2448.888194961944, + -1837.6710688371888, + 23.778790959123736 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2448.888194961944, + -1840.6710688371888, + 23.778790959123736 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2448.888194961944, + -1840.6710688371888, + 23.778790959123736 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2448.888194961944, + -1840.6710688371888, + 23.778790959123736 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2451.486271173297, + -1842.1710688371888, + 23.778790959123736 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2454.0843473846503, + -1843.6710688371888, + 23.778790959123736 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2456.6824235960034, + -1845.1710688371888, + 23.778790959123736 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2459.2804998073566, + -1846.6710688371888, + 23.778790959123736 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2461.8785760187097, + -1848.1710688371888, + 23.778790959123736 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2464.476652230063, + -1849.6710688371888, + 23.778790959123736 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2464.476652230063, + -1849.6710688371888, + 23.778790959123736 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535897647 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2467.476652230063, + -1849.6710688371888, + 23.778790959123736 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2470.476652230063, + -1849.6710688371888, + 23.778790959123736 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -2473.476652230063, + -1849.6710688371888, + 23.778790959123736 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -2476.476652230063, + -1849.6710688371888, + 23.778790959123736 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -2479.476652230063, + -1849.6710688371888, + 23.778790959123736 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -2482.476652230063, + -1849.6710688371888, + 23.778790959123736 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -2485.476652230063, + -1849.6710688371888, + 23.778790959123736 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -2488.476652230063, + -1849.6710688371888, + 23.778790959123736 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -2491.476652230063, + -1849.6710688371888, + 23.778790959123736 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -2494.476652230063, + -1849.6710688371888, + 23.778790959123736 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -2497.476652230063, + -1849.6710688371888, + 23.778790959123736 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -2500.476652230063, + -1849.6710688371888, + 23.778790959123736 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -2503.476652230063, + -1849.6710688371888, + 23.778790959123736 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -2506.476652230063, + -1849.6710688371888, + 23.778790959123736 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -2509.476652230063, + -1849.6710688371888, + 23.778790959123736 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -2512.476652230063, + -1849.6710688371888, + 23.778790959123736 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -2515.476652230063, + -1849.6710688371888, + 23.778790959123736 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -2518.476652230063, + -1849.6710688371888, + 23.778790959123736 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -2518.476652230063, + -1849.6710688371888, + 23.778790959123736 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -2521.074728441416, + -1851.1710688371888, + 23.778790959123736 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -2523.672804652769, + -1852.6710688371888, + 23.778790959123736 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -2526.2708808641223, + -1854.1710688371888, + 23.778790959123736 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -2528.8689570754755, + -1855.6710688371888, + 23.778790959123736 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -2531.4670332868286, + -1857.1710688371888, + 23.778790959123736 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -2534.0651094981818, + -1858.6710688371888, + 23.778790959123736 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -2536.663185709535, + -1860.1710688371888, + 23.778790959123736 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -2539.261261920888, + -1861.6710688371888, + 23.778790959123736 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -2541.859338132241, + -1863.1710688371888, + 23.778790959123736 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -2544.4574143435943, + -1864.6710688371888, + 23.778790959123736 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -2547.0554905549475, + -1866.1710688371888, + 23.778790959123736 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -2549.6535667663006, + -1867.6710688371888, + 23.778790959123736 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -2552.251642977654, + -1869.1710688371888, + 23.778790959123736 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -2552.251642977654, + -1869.1710688371888, + 23.778790959123736 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535897647 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -2555.251642977654, + -1869.1710688371888, + 23.778790959123736 + ], + "type": "stop", + "value": 0, + "yaw": -3.1415926535897647 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2572.0, + -1884.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_5-56-58_67874133/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_5-56-58_67874133/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9b90cd023ed37446465eca7fa143a6dde4ff295e --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_5-56-58_67874133/pose.jsonl @@ -0,0 +1,886 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 425.15262287492806, + 189.32550069938526, + 28.701240285268824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 426.65262287492806, + 186.72742448803194, + 28.701240285268824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 428.15262287492806, + 184.12934827667863, + 28.701240285268824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 429.65262287492806, + 181.5312720653253, + 28.701240285268824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 431.15262287492806, + 178.933195853972, + 28.701240285268824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 432.65262287492806, + 176.33511964261868, + 28.701240285268824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 434.15262287492806, + 173.73704343126536, + 28.701240285268824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 435.65262287492806, + 171.13896721991205, + 28.701240285268824 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 435.65262287492806, + 171.13896721991205, + 28.701240285268824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 435.65262287492806, + 168.13896721991205, + 28.701240285268824 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 435.65262287492806, + 168.13896721991205, + 28.701240285268824 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 435.65262287492806, + 168.13896721991205, + 28.701240285268824 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 438.2506990862814, + 166.63896721991205, + 28.701240285268824 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 440.8487752976347, + 165.13896721991205, + 28.701240285268824 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 443.446851508988, + 163.63896721991205, + 28.701240285268824 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 446.0449277203413, + 162.13896721991205, + 28.701240285268824 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 448.64300393169464, + 160.63896721991205, + 28.701240285268824 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 451.24108014304795, + 159.13896721991205, + 28.701240285268824 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 453.83915635440127, + 157.63896721991205, + 28.701240285268824 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 456.4372325657546, + 156.13896721991205, + 28.701240285268824 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 459.0353087771079, + 154.63896721991205, + 28.701240285268824 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 461.6333849884612, + 153.13896721991205, + 28.701240285268824 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 464.23146119981453, + 151.63896721991205, + 28.701240285268824 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 466.82953741116785, + 150.13896721991205, + 28.701240285268824 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 469.42761362252116, + 148.63896721991205, + 28.701240285268824 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 472.0256898338745, + 147.13896721991205, + 28.701240285268824 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 474.6237660452278, + 145.63896721991205, + 28.701240285268824 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 477.2218422565811, + 144.13896721991205, + 28.701240285268824 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 479.81991846793443, + 142.63896721991205, + 28.701240285268824 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 482.41799467928774, + 141.13896721991205, + 28.701240285268824 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 485.01607089064106, + 139.63896721991205, + 28.701240285268824 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 487.6141471019944, + 138.13896721991205, + 28.701240285268824 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 490.2122233133477, + 136.63896721991205, + 28.701240285268824 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 492.810299524701, + 135.13896721991205, + 28.701240285268824 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 495.4083757360543, + 133.63896721991205, + 28.701240285268824 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 498.00645194740764, + 132.13896721991205, + 28.701240285268824 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 500.60452815876096, + 130.63896721991205, + 28.701240285268824 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 503.2026043701143, + 129.13896721991205, + 28.701240285268824 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 503.2026043701143, + 129.13896721991205, + 28.701240285268824 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 506.2026043701143, + 129.13896721991205, + 28.701240285268824 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 509.2026043701143, + 129.13896721991205, + 28.701240285268824 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 512.2026043701143, + 129.13896721991205, + 28.701240285268824 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 515.2026043701143, + 129.13896721991205, + 28.701240285268824 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 518.2026043701143, + 129.13896721991205, + 28.701240285268824 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 521.2026043701143, + 129.13896721991205, + 28.701240285268824 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 524.2026043701143, + 129.13896721991205, + 28.701240285268824 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 524.2026043701143, + 129.13896721991205, + 28.701240285268824 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 526.8006805814675, + 127.63896721991205, + 28.701240285268824 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 529.3987567928209, + 126.13896721991205, + 28.701240285268824 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 531.9968330041743, + 124.63896721991205, + 28.701240285268824 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 531.9968330041743, + 124.63896721991205, + 28.701240285268824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 533.4968330041743, + 122.04089100855873, + 28.701240285268824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 534.9968330041743, + 119.44281479720541, + 28.701240285268824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 536.4968330041743, + 116.8447385858521, + 28.701240285268824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 537.9968330041743, + 114.24666237449878, + 28.701240285268824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 539.4968330041743, + 111.64858616314547, + 28.701240285268824 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 539.4968330041743, + 111.64858616314547, + 28.701240285268824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 539.4968330041743, + 108.64858616314547, + 28.701240285268824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 539.4968330041743, + 105.64858616314547, + 28.701240285268824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 539.4968330041743, + 102.64858616314547, + 28.701240285268824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 539.4968330041743, + 99.64858616314547, + 28.701240285268824 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 539.4968330041743, + 99.64858616314547, + 28.701240285268824 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 539.4968330041743, + 99.64858616314547, + 28.701240285268824 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 542.0949092155277, + 98.14858616314547, + 28.701240285268824 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 544.692985426881, + 96.64858616314547, + 28.701240285268824 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 547.2910616382344, + 95.14858616314547, + 28.701240285268824 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 549.8891378495878, + 93.64858616314547, + 28.701240285268824 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 564.0, + 84.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_5-6-19_373953666/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_5-6-19_373953666/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c924bfccaa9c0ed0b0cb6ec17b15d3888bf8326d --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_5-6-19_373953666/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -782.9529162532331, + -2084.5371452457443, + 19.52140152818019 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -779.9529162532331, + -2084.5371452457443, + 19.52140152818019 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -776.9529162532331, + -2084.5371452457443, + 19.52140152818019 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -773.9529162532331, + -2084.5371452457443, + 19.52140152818019 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -770.9529162532331, + -2084.5371452457443, + 19.52140152818019 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -767.9529162532331, + -2084.5371452457443, + 19.52140152818019 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -764.9529162532331, + -2084.5371452457443, + 19.52140152818019 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -761.9529162532331, + -2084.5371452457443, + 19.52140152818019 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -758.9529162532331, + -2084.5371452457443, + 19.52140152818019 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -755.9529162532331, + -2084.5371452457443, + 19.52140152818019 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -752.9529162532331, + -2084.5371452457443, + 19.52140152818019 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -749.9529162532331, + -2084.5371452457443, + 19.52140152818019 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -746.9529162532331, + -2084.5371452457443, + 19.52140152818019 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -743.9529162532331, + -2084.5371452457443, + 19.52140152818019 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -740.9529162532331, + -2084.5371452457443, + 19.52140152818019 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -737.9529162532331, + -2084.5371452457443, + 19.52140152818019 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -734.9529162532331, + -2084.5371452457443, + 19.52140152818019 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -731.9529162532331, + -2084.5371452457443, + 19.52140152818019 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -728.9529162532331, + -2084.5371452457443, + 19.52140152818019 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -725.9529162532331, + -2084.5371452457443, + 19.52140152818019 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -722.9529162532331, + -2084.5371452457443, + 19.52140152818019 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -719.9529162532331, + -2084.5371452457443, + 19.52140152818019 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -716.9529162532331, + -2084.5371452457443, + 19.52140152818019 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -713.9529162532331, + -2084.5371452457443, + 19.52140152818019 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -710.9529162532331, + -2084.5371452457443, + 19.52140152818019 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -707.9529162532331, + -2084.5371452457443, + 19.52140152818019 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -704.9529162532331, + -2084.5371452457443, + 19.52140152818019 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -701.9529162532331, + -2084.5371452457443, + 19.52140152818019 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -698.9529162532331, + -2084.5371452457443, + 19.52140152818019 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -695.9529162532331, + -2084.5371452457443, + 19.52140152818019 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -692.9529162532331, + -2084.5371452457443, + 19.52140152818019 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -689.9529162532331, + -2084.5371452457443, + 19.52140152818019 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -686.9529162532331, + -2084.5371452457443, + 19.52140152818019 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -683.9529162532331, + -2084.5371452457443, + 19.52140152818019 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -680.9529162532331, + -2084.5371452457443, + 19.52140152818019 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -677.9529162532331, + -2084.5371452457443, + 19.52140152818019 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -674.9529162532331, + -2084.5371452457443, + 19.52140152818019 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -671.9529162532331, + -2084.5371452457443, + 19.52140152818019 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -671.9529162532331, + -2084.5371452457443, + 19.52140152818019 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -669.3548400418797, + -2086.0371452457443, + 19.52140152818019 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -666.7567638305263, + -2087.5371452457443, + 19.52140152818019 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -664.158687619173, + -2089.0371452457443, + 19.52140152818019 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -661.5606114078196, + -2090.5371452457443, + 19.52140152818019 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -658.9625351964662, + -2092.0371452457443, + 19.52140152818019 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -656.3644589851128, + -2093.5371452457443, + 19.52140152818019 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -656.3644589851128, + -2093.5371452457443, + 19.52140152818019 + ], + "type": "go straight", + "value": 3, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -653.3644589851128, + -2093.5371452457443, + 19.52140152818019 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -650.3644589851128, + -2093.5371452457443, + 19.52140152818019 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -647.3644589851128, + -2093.5371452457443, + 19.52140152818019 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -604.0, + -2096.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_5-6-49_403068011/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_5-6-49_403068011/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9311584245c2e24536a011bde426a8ec02500658 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_5-6-49_403068011/pose.jsonl @@ -0,0 +1,548 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 41.141669773347445, + -125.35915135472649, + 28.938347061538234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 38.54359356199413, + -126.85915135472649, + 28.938347061538234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 35.94551735064081, + -128.3591513547265, + 28.938347061538234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 33.3474411392875, + -129.8591513547265, + 28.938347061538234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 30.74936492793418, + -131.3591513547265, + 28.938347061538234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 28.151288716580865, + -132.8591513547265, + 28.938347061538234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 25.55321250522755, + -134.3591513547265, + 28.938347061538234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 22.955136293874233, + -135.8591513547265, + 28.938347061538234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 20.357060082520917, + -137.3591513547265, + 28.938347061538234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 17.7589838711676, + -138.8591513547265, + 28.938347061538234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 15.160907659814285, + -140.3591513547265, + 28.938347061538234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 12.562831448460969, + -141.8591513547265, + 28.938347061538234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 9.964755237107653, + -143.3591513547265, + 28.938347061538234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 7.366679025754337, + -144.8591513547265, + 28.938347061538234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4.768602814401021, + -146.3591513547265, + 28.938347061538234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 2.170526603047705, + -147.8591513547265, + 28.938347061538234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -0.4275496083056112, + -149.3591513547265, + 28.938347061538234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -3.025625819658927, + -150.8591513547265, + 28.938347061538234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -5.623702031012243, + -152.3591513547265, + 28.938347061538234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -8.22177824236556, + -153.8591513547265, + 28.938347061538234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -10.819854453718875, + -155.3591513547265, + 28.938347061538234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -13.417930665072191, + -156.8591513547265, + 28.938347061538234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -16.016006876425507, + -158.3591513547265, + 28.938347061538234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -18.614083087778823, + -159.8591513547265, + 28.938347061538234 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -18.614083087778823, + -159.8591513547265, + 28.938347061538234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -20.114083087778823, + -162.4572275660798, + 28.938347061538234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -21.614083087778823, + -165.05530377743312, + 28.938347061538234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -23.114083087778823, + -167.65337998878644, + 28.938347061538234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -24.614083087778823, + -170.25145620013976, + 28.938347061538234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -26.114083087778823, + -172.84953241149307, + 28.938347061538234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -27.614083087778823, + -175.4476086228464, + 28.938347061538234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -29.114083087778823, + -178.0456848341997, + 28.938347061538234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -30.614083087778823, + -180.64376104555302, + 28.938347061538234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -32.11408308777882, + -183.24183725690634, + 28.938347061538234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -33.61408308777882, + -185.83991346825965, + 28.938347061538234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -35.11408308777882, + -188.43798967961297, + 28.938347061538234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -36.61408308777882, + -191.03606589096628, + 28.938347061538234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -38.11408308777882, + -193.6341421023196, + 28.938347061538234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -39.61408308777882, + -196.23221831367292, + 28.938347061538234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -41.11408308777882, + -198.83029452502623, + 28.938347061538234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -42.61408308777882, + -201.42837073637955, + 28.938347061538234 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -84.0, + -240.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_5-7-17_530788967/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_5-7-17_530788967/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3457c5689ad4f15976625e3d3dae956d8098f586 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_5-7-17_530788967/pose.jsonl @@ -0,0 +1,301 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2944.837814073786, + -179.10517566346167, + 36.043605001681826 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2947.435890285139, + -177.60517566346167, + 36.043605001681826 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2950.033966496492, + -176.10517566346167, + 36.043605001681826 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2952.6320427078454, + -174.60517566346167, + 36.043605001681826 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2955.2301189191985, + -173.10517566346167, + 36.043605001681826 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2957.8281951305516, + -171.60517566346167, + 36.043605001681826 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2960.426271341905, + -170.10517566346167, + 36.043605001681826 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2963.024347553258, + -168.60517566346167, + 36.043605001681826 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2965.622423764611, + -167.10517566346167, + 36.043605001681826 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2965.622423764611, + -167.10517566346167, + 36.043605001681826 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535897647 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2968.622423764611, + -167.10517566346167, + 36.043605001681826 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2971.622423764611, + -167.10517566346167, + 36.043605001681826 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2974.622423764611, + -167.10517566346167, + 36.043605001681826 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2977.622423764611, + -167.10517566346167, + 36.043605001681826 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2980.622423764611, + -167.10517566346167, + 36.043605001681826 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2983.622423764611, + -167.10517566346167, + 36.043605001681826 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2986.622423764611, + -167.10517566346167, + 36.043605001681826 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2989.622423764611, + -167.10517566346167, + 36.043605001681826 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2992.622423764611, + -167.10517566346167, + 36.043605001681826 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2995.622423764611, + -167.10517566346167, + 36.043605001681826 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2995.622423764611, + -167.10517566346167, + 36.043605001681826 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2998.2204999759642, + -165.60517566346167, + 36.043605001681826 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -3100.0, + -140.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_6-11-30_573556837/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_6-11-30_573556837/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6a1ca11862bd243275b64c9791c68b2c454447f6 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_6-11-30_573556837/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4642.944426798132, + -960.5373334604948, + 31.887274138335524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4641.444426798132, + -957.9392572491415, + 31.887274138335524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4639.944426798132, + -955.3411810377881, + 31.887274138335524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4638.444426798132, + -952.7431048264348, + 31.887274138335524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4636.944426798132, + -950.1450286150814, + 31.887274138335524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4635.444426798132, + -947.546952403728, + 31.887274138335524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4633.944426798132, + -944.9488761923747, + 31.887274138335524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4632.444426798132, + -942.3507999810213, + 31.887274138335524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4630.944426798132, + -939.7527237696679, + 31.887274138335524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4629.444426798132, + -937.1546475583145, + 31.887274138335524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4627.944426798132, + -934.5565713469612, + 31.887274138335524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4626.444426798132, + -931.9584951356078, + 31.887274138335524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4624.944426798132, + -929.3604189242544, + 31.887274138335524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4623.444426798132, + -926.762342712901, + 31.887274138335524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4621.944426798132, + -924.1642665015477, + 31.887274138335524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4620.444426798132, + -921.5661902901943, + 31.887274138335524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 4618.944426798132, + -918.9681140788409, + 31.887274138335524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 4617.444426798132, + -916.3700378674876, + 31.887274138335524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 4615.944426798132, + -913.7719616561342, + 31.887274138335524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 4614.444426798132, + -911.1738854447808, + 31.887274138335524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 4612.944426798132, + -908.5758092334274, + 31.887274138335524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 4611.444426798132, + -905.9777330220741, + 31.887274138335524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 4609.944426798132, + -903.3796568107207, + 31.887274138335524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 4608.444426798132, + -900.7815805993673, + 31.887274138335524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 4606.944426798132, + -898.183504388014, + 31.887274138335524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 4605.444426798132, + -895.5854281766606, + 31.887274138335524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 4603.944426798132, + -892.9873519653072, + 31.887274138335524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 4602.444426798132, + -890.3892757539538, + 31.887274138335524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 4600.944426798132, + -887.7911995426005, + 31.887274138335524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 4599.444426798132, + -885.1931233312471, + 31.887274138335524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 4597.944426798132, + -882.5950471198937, + 31.887274138335524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 4596.444426798132, + -879.9969709085403, + 31.887274138335524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 4594.944426798132, + -877.398894697187, + 31.887274138335524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 4593.444426798132, + -874.8008184858336, + 31.887274138335524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 4591.944426798132, + -872.2027422744802, + 31.887274138335524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 4590.444426798132, + -869.6046660631268, + 31.887274138335524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 4588.944426798132, + -867.0065898517735, + 31.887274138335524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 4587.444426798132, + -864.4085136404201, + 31.887274138335524 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 4587.444426798132, + -864.4085136404201, + 31.887274138335524 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 4587.444426798132, + -861.4085136404201, + 31.887274138335524 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 4587.444426798132, + -858.4085136404201, + 31.887274138335524 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 4587.444426798132, + -855.4085136404201, + 31.887274138335524 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 4587.444426798132, + -852.4085136404201, + 31.887274138335524 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 4587.444426798132, + -849.4085136404201, + 31.887274138335524 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 4587.444426798132, + -846.4085136404201, + 31.887274138335524 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4576.0, + -824.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_6-18-40_703571522/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_6-18-40_703571522/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3cb84e1936bcda3f83043fa6d0b273a6f5512f1b --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_6-18-40_703571522/pose.jsonl @@ -0,0 +1,496 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -296.93389738026013, + 732.9348654524833, + 15.835024217126493 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -295.43389738026013, + 735.5329416638367, + 15.835024217126493 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -293.93389738026013, + 738.1310178751901, + 15.835024217126493 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -292.43389738026013, + 740.7290940865435, + 15.835024217126493 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -290.93389738026013, + 743.3271702978968, + 15.835024217126493 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -289.43389738026013, + 745.9252465092502, + 15.835024217126493 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -287.93389738026013, + 748.5233227206036, + 15.835024217126493 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -287.93389738026013, + 748.5233227206036, + 15.835024217126493 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -287.93389738026013, + 751.5233227206036, + 15.835024217126493 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -287.93389738026013, + 754.5233227206036, + 15.835024217126493 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -287.93389738026013, + 757.5233227206036, + 15.835024217126493 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -287.93389738026013, + 760.5233227206036, + 15.835024217126493 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -287.93389738026013, + 763.5233227206036, + 15.835024217126493 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -287.93389738026013, + 766.5233227206036, + 15.835024217126493 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -287.93389738026013, + 769.5233227206036, + 15.835024217126493 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -287.93389738026013, + 772.5233227206036, + 15.835024217126493 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -287.93389738026013, + 775.5233227206036, + 15.835024217126493 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -287.93389738026013, + 775.5233227206036, + 15.835024217126493 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -287.93389738026013, + 775.5233227206036, + 15.835024217126493 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -290.53197359161345, + 777.0233227206036, + 15.835024217126493 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -293.13004980296677, + 778.5233227206036, + 15.835024217126493 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -295.7281260143201, + 780.0233227206036, + 15.835024217126493 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -298.3262022256734, + 781.5233227206036, + 15.835024217126493 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -300.9242784370267, + 783.0233227206036, + 15.835024217126493 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -303.52235464838003, + 784.5233227206036, + 15.835024217126493 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -306.12043085973335, + 786.0233227206036, + 15.835024217126493 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -308.71850707108666, + 787.5233227206036, + 15.835024217126493 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -311.31658328244, + 789.0233227206036, + 15.835024217126493 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -313.9146594937933, + 790.5233227206036, + 15.835024217126493 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -316.5127357051466, + 792.0233227206036, + 15.835024217126493 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -319.1108119164999, + 793.5233227206036, + 15.835024217126493 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -319.1108119164999, + 793.5233227206036, + 15.835024217126493 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -320.6108119164999, + 796.121398931957, + 15.835024217126493 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -322.1108119164999, + 798.7194751433103, + 15.835024217126493 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -323.6108119164999, + 801.3175513546637, + 15.835024217126493 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -325.1108119164999, + 803.9156275660171, + 15.835024217126493 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -326.6108119164999, + 806.5137037773704, + 15.835024217126493 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -360.0, + 888.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_6-23-49_1651574882/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_6-23-49_1651574882/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ec29bdafae2d3ae271f16ac55826e0cc3fd85a22 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_6-23-49_1651574882/pose.jsonl @@ -0,0 +1,483 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2384.468559911153, + -1547.7015361413567, + 14.380139097904152 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2381.468559911153, + -1547.7015361413567, + 14.380139097904152 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2378.468559911153, + -1547.7015361413567, + 14.380139097904152 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2375.468559911153, + -1547.7015361413567, + 14.380139097904152 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2372.468559911153, + -1547.7015361413567, + 14.380139097904152 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2369.468559911153, + -1547.7015361413567, + 14.380139097904152 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2366.468559911153, + -1547.7015361413567, + 14.380139097904152 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2363.468559911153, + -1547.7015361413567, + 14.380139097904152 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2360.468559911153, + -1547.7015361413567, + 14.380139097904152 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 2357.468559911153, + -1547.7015361413567, + 14.380139097904152 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2354.468559911153, + -1547.7015361413567, + 14.380139097904152 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2351.468559911153, + -1547.7015361413567, + 14.380139097904152 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 2348.468559911153, + -1547.7015361413567, + 14.380139097904152 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 2345.468559911153, + -1547.7015361413567, + 14.380139097904152 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 2342.468559911153, + -1547.7015361413567, + 14.380139097904152 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 2339.468559911153, + -1547.7015361413567, + 14.380139097904152 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 2336.468559911153, + -1547.7015361413567, + 14.380139097904152 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 2333.468559911153, + -1547.7015361413567, + 14.380139097904152 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 2330.468559911153, + -1547.7015361413567, + 14.380139097904152 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 2327.468559911153, + -1547.7015361413567, + 14.380139097904152 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 2324.468559911153, + -1547.7015361413567, + 14.380139097904152 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 2321.468559911153, + -1547.7015361413567, + 14.380139097904152 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 2318.468559911153, + -1547.7015361413567, + 14.380139097904152 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 2315.468559911153, + -1547.7015361413567, + 14.380139097904152 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 2312.468559911153, + -1547.7015361413567, + 14.380139097904152 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 2309.468559911153, + -1547.7015361413567, + 14.380139097904152 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 2306.468559911153, + -1547.7015361413567, + 14.380139097904152 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 2303.468559911153, + -1547.7015361413567, + 14.380139097904152 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 2300.468559911153, + -1547.7015361413567, + 14.380139097904152 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 2297.468559911153, + -1547.7015361413567, + 14.380139097904152 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 2294.468559911153, + -1547.7015361413567, + 14.380139097904152 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 2291.468559911153, + -1547.7015361413567, + 14.380139097904152 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 2288.468559911153, + -1547.7015361413567, + 14.380139097904152 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 2285.468559911153, + -1547.7015361413567, + 14.380139097904152 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 2282.468559911153, + -1547.7015361413567, + 14.380139097904152 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 2279.468559911153, + -1547.7015361413567, + 14.380139097904152 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2216.0, + -1544.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_6-24-12_2125023787/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_6-24-12_2125023787/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f47d61fd64a8042c41c6fb65ed70cc008d50e140 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_6-24-12_2125023787/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3237.7895737476138, + -509.7932079795358, + 17.76800571508665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3235.1914975362606, + -511.2932079795358, + 17.76800571508665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3232.5934213249075, + -512.7932079795357, + 17.76800571508665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914824 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3229.9953451135543, + -514.2932079795357, + 17.76800571508665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3227.397268902201, + -515.7932079795357, + 17.76800571508665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3224.799192690848, + -517.2932079795357, + 17.76800571508665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3222.201116479495, + -518.7932079795357, + 17.76800571508665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3219.6030402681417, + -520.2932079795357, + 17.76800571508665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 3217.0049640567886, + -521.7932079795357, + 17.76800571508665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 3214.4068878454354, + -523.2932079795357, + 17.76800571508665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 3211.8088116340823, + -524.7932079795357, + 17.76800571508665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 3209.210735422729, + -526.2932079795357, + 17.76800571508665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 3206.612659211376, + -527.7932079795357, + 17.76800571508665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 3204.014583000023, + -529.2932079795357, + 17.76800571508665 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 3204.014583000023, + -529.2932079795357, + 17.76800571508665 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535897647 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 3201.014583000023, + -529.2932079795357, + 17.76800571508665 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 3198.014583000023, + -529.2932079795357, + 17.76800571508665 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 3198.014583000023, + -529.2932079795357, + 17.76800571508665 + ], + "type": "turn left", + "value": 30, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 3198.014583000023, + -529.2932079795357, + 17.76800571508665 + ], + "type": "go straight", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 3196.514583000023, + -531.8912841908891, + 17.76800571508665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 3195.014583000023, + -534.4893604022425, + 17.76800571508665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 3193.514583000023, + -537.0874366135959, + 17.76800571508665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 3192.014583000023, + -539.6855128249492, + 17.76800571508665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 3190.514583000023, + -542.2835890363026, + 17.76800571508665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 3189.014583000023, + -544.881665247656, + 17.76800571508665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 3187.514583000023, + -547.4797414590093, + 17.76800571508665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 3186.014583000023, + -550.0778176703627, + 17.76800571508665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 3184.514583000023, + -552.6758938817161, + 17.76800571508665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 3183.014583000023, + -555.2739700930695, + 17.76800571508665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 3181.514583000023, + -557.8720463044228, + 17.76800571508665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 3180.014583000023, + -560.4701225157762, + 17.76800571508665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 3178.514583000023, + -563.0681987271296, + 17.76800571508665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 3177.014583000023, + -565.666274938483, + 17.76800571508665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 3175.514583000023, + -568.2643511498363, + 17.76800571508665 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 3175.514583000023, + -568.2643511498363, + 17.76800571508665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 3172.9165067886697, + -569.7643511498363, + 17.76800571508665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 3170.3184305773166, + -571.2643511498363, + 17.76800571508665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 3167.7203543659634, + -572.7643511498363, + 17.76800571508665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 3165.1222781546103, + -574.2643511498363, + 17.76800571508665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 3162.524201943257, + -575.7643511498363, + 17.76800571508665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 3159.926125731904, + -577.2643511498363, + 17.76800571508665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 3157.328049520551, + -578.7643511498363, + 17.76800571508665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 3154.7299733091977, + -580.2643511498363, + 17.76800571508665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 3152.1318970978446, + -581.7643511498363, + 17.76800571508665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 3149.5338208864914, + -583.2643511498363, + 17.76800571508665 + ], + "type": "stop", + "value": 0, + "yaw": -2.617993877991466 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3120.0, + -604.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_6-26-25_1211721386/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_6-26-25_1211721386/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cc2bce16864f7b928fb3340c467c8602cd9fe34f --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_6-26-25_1211721386/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3982.6759383006442, + 2066.9458275201323, + 20.812322515352363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3981.1759383006442, + 2069.5439037314854, + 20.812322515352363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3979.6759383006442, + 2072.1419799428386, + 20.812322515352363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3978.1759383006442, + 2074.7400561541917, + 20.812322515352363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3976.6759383006442, + 2077.338132365545, + 20.812322515352363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3975.1759383006442, + 2079.936208576898, + 20.812322515352363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3973.6759383006442, + 2082.534284788251, + 20.812322515352363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3972.1759383006442, + 2085.1323609996043, + 20.812322515352363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 3970.6759383006442, + 2087.7304372109575, + 20.812322515352363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 3969.1759383006442, + 2090.3285134223106, + 20.812322515352363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 3967.6759383006442, + 2092.9265896336638, + 20.812322515352363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 3966.1759383006442, + 2095.524665845017, + 20.812322515352363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 3964.6759383006442, + 2098.12274205637, + 20.812322515352363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 3963.1759383006442, + 2100.720818267723, + 20.812322515352363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 3961.6759383006442, + 2103.3188944790763, + 20.812322515352363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 3960.1759383006442, + 2105.9169706904295, + 20.812322515352363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 3958.6759383006442, + 2108.5150469017826, + 20.812322515352363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 3957.1759383006442, + 2111.1131231131358, + 20.812322515352363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 3955.6759383006442, + 2113.711199324489, + 20.812322515352363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 3954.1759383006442, + 2116.309275535842, + 20.812322515352363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 3952.6759383006442, + 2118.907351747195, + 20.812322515352363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 3951.1759383006442, + 2121.5054279585484, + 20.812322515352363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 3949.6759383006442, + 2124.1035041699015, + 20.812322515352363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 3948.1759383006442, + 2126.7015803812546, + 20.812322515352363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 3946.6759383006442, + 2129.299656592608, + 20.812322515352363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 3945.1759383006442, + 2131.897732803961, + 20.812322515352363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 3943.6759383006442, + 2134.495809015314, + 20.812322515352363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 3942.1759383006442, + 2137.093885226667, + 20.812322515352363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 3940.6759383006442, + 2139.6919614380204, + 20.812322515352363 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 3940.6759383006442, + 2139.6919614380204, + 20.812322515352363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915224 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 3938.077862089291, + 2141.1919614380204, + 20.812322515352363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 3935.479785877938, + 2142.6919614380204, + 20.812322515352363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 3932.881709666585, + 2144.1919614380204, + 20.812322515352363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 3930.2836334552317, + 2145.6919614380204, + 20.812322515352363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 3927.6855572438785, + 2147.1919614380204, + 20.812322515352363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 3925.0874810325254, + 2148.6919614380204, + 20.812322515352363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 3922.4894048211722, + 2150.1919614380204, + 20.812322515352363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 3919.891328609819, + 2151.6919614380204, + 20.812322515352363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 3917.293252398466, + 2153.1919614380204, + 20.812322515352363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 3914.695176187113, + 2154.6919614380204, + 20.812322515352363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 3912.0970999757596, + 2156.1919614380204, + 20.812322515352363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 3909.4990237644065, + 2157.6919614380204, + 20.812322515352363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 3906.9009475530534, + 2159.1919614380204, + 20.812322515352363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 3904.3028713417, + 2160.6919614380204, + 20.812322515352363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 3901.704795130347, + 2162.1919614380204, + 20.812322515352363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 3899.106718918994, + 2163.6919614380204, + 20.812322515352363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 3896.508642707641, + 2165.1919614380204, + 20.812322515352363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 3893.9105664962876, + 2166.6919614380204, + 20.812322515352363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 3891.3124902849345, + 2168.1919614380204, + 20.812322515352363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 3888.7144140735813, + 2169.6919614380204, + 20.812322515352363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 3886.116337862228, + 2171.1919614380204, + 20.812322515352363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 3883.518261650875, + 2172.6919614380204, + 20.812322515352363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 3880.920185439522, + 2174.1919614380204, + 20.812322515352363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 3878.3221092281688, + 2175.6919614380204, + 20.812322515352363 + ], + "type": "stop", + "value": 0, + "yaw": 2.617993877991466 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3860.0, + 2196.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_6-29-32_76277107/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_6-29-32_76277107/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6ff8bdff5354eb7fa31dd1fa33297210d89e4c5d --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_6-29-32_76277107/pose.jsonl @@ -0,0 +1,236 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2242.2145274179957, + 2327.974863558279, + 20.67918287192938 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2240.7145274179957, + 2330.5729397696323, + 20.67918287192938 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2239.2145274179957, + 2333.1710159809854, + 20.67918287192938 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2237.7145274179957, + 2335.7690921923386, + 20.67918287192938 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2236.2145274179957, + 2338.3671684036917, + 20.67918287192938 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2234.7145274179957, + 2340.965244615045, + 20.67918287192938 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2233.2145274179957, + 2343.563320826398, + 20.67918287192938 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2231.7145274179957, + 2346.161397037751, + 20.67918287192938 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2230.2145274179957, + 2348.7594732491043, + 20.67918287192938 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 2228.7145274179957, + 2351.3575494604574, + 20.67918287192938 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2227.2145274179957, + 2353.9556256718106, + 20.67918287192938 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2225.7145274179957, + 2356.5537018831637, + 20.67918287192938 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 2224.2145274179957, + 2359.151778094517, + 20.67918287192938 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 2222.7145274179957, + 2361.74985430587, + 20.67918287192938 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 2221.2145274179957, + 2364.347930517223, + 20.67918287192938 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 2221.2145274179957, + 2364.347930517223, + 20.67918287192938 + ], + "type": "go straight", + "value": 3, + "yaw": 1.570796326794925 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 2221.2145274179957, + 2367.347930517223, + 20.67918287192938 + ], + "type": "stop", + "value": 0, + "yaw": 1.570796326794925 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2164.0, + 2472.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_6-30-20_1604665417/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_6-30-20_1604665417/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d9068cff6546a3c8399a5261d016e2e8a5b5d16d --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_6-30-20_1604665417/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -82.68172515686787, + 1027.55835437816, + 29.543224004876755 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -81.18172515686787, + 1030.1564305895133, + 29.543224004876755 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -79.68172515686787, + 1032.7545068008667, + 29.543224004876755 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -78.18172515686787, + 1035.35258301222, + 29.543224004876755 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -76.68172515686787, + 1037.9506592235734, + 29.543224004876755 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -75.18172515686787, + 1040.5487354349268, + 29.543224004876755 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -73.68172515686787, + 1043.1468116462802, + 29.543224004876755 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -72.18172515686787, + 1045.7448878576336, + 29.543224004876755 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -70.68172515686787, + 1048.342964068987, + 29.543224004876755 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -69.18172515686787, + 1050.9410402803403, + 29.543224004876755 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -67.68172515686787, + 1053.5391164916937, + 29.543224004876755 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -66.18172515686787, + 1056.137192703047, + 29.543224004876755 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -64.68172515686787, + 1058.7352689144004, + 29.543224004876755 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -63.18172515686787, + 1061.3333451257538, + 29.543224004876755 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -61.68172515686787, + 1063.9314213371072, + 29.543224004876755 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -60.18172515686787, + 1066.5294975484605, + 29.543224004876755 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -58.68172515686787, + 1069.127573759814, + 29.543224004876755 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -57.18172515686787, + 1071.7256499711673, + 29.543224004876755 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -55.68172515686787, + 1074.3237261825207, + 29.543224004876755 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -54.18172515686787, + 1076.921802393874, + 29.543224004876755 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -52.68172515686787, + 1079.5198786052274, + 29.543224004876755 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -51.18172515686787, + 1082.1179548165808, + 29.543224004876755 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -49.68172515686787, + 1084.7160310279342, + 29.543224004876755 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -48.18172515686787, + 1087.3141072392875, + 29.543224004876755 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -46.68172515686787, + 1089.912183450641, + 29.543224004876755 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -45.18172515686787, + 1092.5102596619943, + 29.543224004876755 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -43.68172515686787, + 1095.1083358733476, + 29.543224004876755 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -42.18172515686787, + 1097.706412084701, + 29.543224004876755 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -40.68172515686787, + 1100.3044882960544, + 29.543224004876755 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -39.18172515686787, + 1102.9025645074078, + 29.543224004876755 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -37.68172515686787, + 1105.5006407187611, + 29.543224004876755 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -36.18172515686787, + 1108.0987169301145, + 29.543224004876755 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -34.68172515686787, + 1110.6967931414679, + 29.543224004876755 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -33.18172515686787, + 1113.2948693528213, + 29.543224004876755 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -31.68172515686787, + 1115.8929455641746, + 29.543224004876755 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -30.18172515686787, + 1118.491021775528, + 29.543224004876755 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -28.68172515686787, + 1121.0890979868814, + 29.543224004876755 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -27.18172515686787, + 1123.6871741982347, + 29.543224004876755 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -25.68172515686787, + 1126.2852504095881, + 29.543224004876755 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -24.18172515686787, + 1128.8833266209415, + 29.543224004876755 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -22.68172515686787, + 1131.4814028322949, + 29.543224004876755 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -21.18172515686787, + 1134.0794790436482, + 29.543224004876755 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -19.68172515686787, + 1136.6775552550016, + 29.543224004876755 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -18.18172515686787, + 1139.275631466355, + 29.543224004876755 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -16.68172515686787, + 1141.8737076777084, + 29.543224004876755 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -15.18172515686787, + 1144.4717838890617, + 29.543224004876755 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -15.18172515686787, + 1144.4717838890617, + 29.543224004876755 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -12.583648945514554, + 1145.9717838890617, + 29.543224004876755 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755983084 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4.0, + 1172.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_6-31-16_1569115921/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_6-31-16_1569115921/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ce79c5de97e4a7aee71ff3895d3ec83dc68eb830 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_6-31-16_1569115921/pose.jsonl @@ -0,0 +1,509 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2905.9698782839823, + -396.12256537918233, + 32.61723453935321 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2905.9698782839823, + -399.12256537918233, + 32.61723453935321 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2905.9698782839823, + -402.12256537918233, + 32.61723453935321 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2905.9698782839823, + -405.12256537918233, + 32.61723453935321 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2905.9698782839823, + -408.12256537918233, + 32.61723453935321 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2905.9698782839823, + -411.12256537918233, + 32.61723453935321 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2905.9698782839823, + -414.12256537918233, + 32.61723453935321 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2905.9698782839823, + -417.12256537918233, + 32.61723453935321 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2905.9698782839823, + -420.12256537918233, + 32.61723453935321 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 2905.9698782839823, + -423.12256537918233, + 32.61723453935321 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2905.9698782839823, + -426.12256537918233, + 32.61723453935321 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2905.9698782839823, + -429.12256537918233, + 32.61723453935321 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 2905.9698782839823, + -432.12256537918233, + 32.61723453935321 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 2905.9698782839823, + -435.12256537918233, + 32.61723453935321 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 2905.9698782839823, + -438.12256537918233, + 32.61723453935321 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 2905.9698782839823, + -441.12256537918233, + 32.61723453935321 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 2905.9698782839823, + -444.12256537918233, + 32.61723453935321 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 2905.9698782839823, + -447.12256537918233, + 32.61723453935321 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 2905.9698782839823, + -450.12256537918233, + 32.61723453935321 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 2905.9698782839823, + -453.12256537918233, + 32.61723453935321 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 2905.9698782839823, + -456.12256537918233, + 32.61723453935321 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 2905.9698782839823, + -459.12256537918233, + 32.61723453935321 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 2905.9698782839823, + -459.12256537918233, + 32.61723453935321 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 2907.4698782839823, + -461.72064159053565, + 32.61723453935321 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 2908.9698782839823, + -464.31871780188897, + 32.61723453935321 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 2910.4698782839823, + -466.9167940132423, + 32.61723453935321 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 2911.9698782839823, + -469.5148702245956, + 32.61723453935321 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 2913.4698782839823, + -472.1129464359489, + 32.61723453935321 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 2914.9698782839823, + -474.71102264730223, + 32.61723453935321 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 2916.4698782839823, + -477.30909885865555, + 32.61723453935321 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 2917.9698782839823, + -479.90717507000886, + 32.61723453935321 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 2919.4698782839823, + -482.5052512813622, + 32.61723453935321 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 2920.9698782839823, + -485.1033274927155, + 32.61723453935321 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 2922.4698782839823, + -487.7014037040688, + 32.61723453935321 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 2923.9698782839823, + -490.2994799154221, + 32.61723453935321 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 2925.4698782839823, + -492.89755612677544, + 32.61723453935321 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 2926.9698782839823, + -495.49563233812876, + 32.61723453935321 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 2928.4698782839823, + -498.0937085494821, + 32.61723453935321 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2940.0, + -548.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_6-33-12_1487105994/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_6-33-12_1487105994/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ac257187a58b6d28aff031936c759cc8186b8ab2 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_6-33-12_1487105994/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3813.304087661409, + 60.21255586288217, + 39.40642484171526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3816.304087661409, + 60.21255586288217, + 39.40642484171526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3819.304087661409, + 60.21255586288217, + 39.40642484171526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3822.304087661409, + 60.21255586288217, + 39.40642484171526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3825.304087661409, + 60.21255586288217, + 39.40642484171526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3828.304087661409, + 60.21255586288217, + 39.40642484171526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3831.304087661409, + 60.21255586288217, + 39.40642484171526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3834.304087661409, + 60.21255586288217, + 39.40642484171526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 3837.304087661409, + 60.21255586288217, + 39.40642484171526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 3840.304087661409, + 60.21255586288217, + 39.40642484171526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 3843.304087661409, + 60.21255586288217, + 39.40642484171526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 3846.304087661409, + 60.21255586288217, + 39.40642484171526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 3849.304087661409, + 60.21255586288217, + 39.40642484171526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 3852.304087661409, + 60.21255586288217, + 39.40642484171526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 3855.304087661409, + 60.21255586288217, + 39.40642484171526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 3858.304087661409, + 60.21255586288217, + 39.40642484171526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 3861.304087661409, + 60.21255586288217, + 39.40642484171526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 3864.304087661409, + 60.21255586288217, + 39.40642484171526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 3867.304087661409, + 60.21255586288217, + 39.40642484171526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 3870.304087661409, + 60.21255586288217, + 39.40642484171526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 3873.304087661409, + 60.21255586288217, + 39.40642484171526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 3876.304087661409, + 60.21255586288217, + 39.40642484171526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 3879.304087661409, + 60.21255586288217, + 39.40642484171526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 3882.304087661409, + 60.21255586288217, + 39.40642484171526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 3885.304087661409, + 60.21255586288217, + 39.40642484171526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 3888.304087661409, + 60.21255586288217, + 39.40642484171526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 3891.304087661409, + 60.21255586288217, + 39.40642484171526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 3894.304087661409, + 60.21255586288217, + 39.40642484171526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 3897.304087661409, + 60.21255586288217, + 39.40642484171526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 3900.304087661409, + 60.21255586288217, + 39.40642484171526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 3903.304087661409, + 60.21255586288217, + 39.40642484171526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 3906.304087661409, + 60.21255586288217, + 39.40642484171526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 3909.304087661409, + 60.21255586288217, + 39.40642484171526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 3912.304087661409, + 60.21255586288217, + 39.40642484171526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 3915.304087661409, + 60.21255586288217, + 39.40642484171526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 3918.304087661409, + 60.21255586288217, + 39.40642484171526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 3921.304087661409, + 60.21255586288217, + 39.40642484171526 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 3921.304087661409, + 60.21255586288217, + 39.40642484171526 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 3923.9021638727622, + 58.71255586288217, + 39.40642484171526 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 3926.5002400841154, + 57.21255586288217, + 39.40642484171526 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 3929.0983162954685, + 55.71255586288217, + 39.40642484171526 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 3931.6963925068217, + 54.21255586288217, + 39.40642484171526 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 3934.294468718175, + 52.71255586288217, + 39.40642484171526 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 3936.892544929528, + 51.21255586288217, + 39.40642484171526 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 3939.490621140881, + 49.71255586288217, + 39.40642484171526 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 3942.0886973522342, + 48.21255586288217, + 39.40642484171526 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755983272 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3972.0, + 44.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_6-38-53_240959156/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_6-38-53_240959156/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c6ee940a0bf8c93ca19d3908f24bd7617ac14557 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_6-38-53_240959156/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1529.0340478390467, + -1627.715155026038, + 32.566243265238484 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1531.6321240504, + -1629.215155026038, + 32.566243265238484 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1534.2302002617535, + -1630.715155026038, + 32.566243265238484 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1536.8282764731068, + -1632.215155026038, + 32.566243265238484 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1539.4263526844602, + -1633.715155026038, + 32.566243265238484 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1542.0244288958136, + -1635.215155026038, + 32.566243265238484 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1544.622505107167, + -1636.715155026038, + 32.566243265238484 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1547.2205813185203, + -1638.215155026038, + 32.566243265238484 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1549.8186575298737, + -1639.715155026038, + 32.566243265238484 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1552.416733741227, + -1641.215155026038, + 32.566243265238484 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1555.0148099525804, + -1642.715155026038, + 32.566243265238484 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1557.6128861639338, + -1644.215155026038, + 32.566243265238484 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1560.2109623752872, + -1645.715155026038, + 32.566243265238484 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1562.8090385866406, + -1647.215155026038, + 32.566243265238484 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1565.407114797994, + -1648.715155026038, + 32.566243265238484 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1565.407114797994, + -1648.715155026038, + 32.566243265238484 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1568.407114797994, + -1648.715155026038, + 32.566243265238484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1571.407114797994, + -1648.715155026038, + 32.566243265238484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1574.407114797994, + -1648.715155026038, + 32.566243265238484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1577.407114797994, + -1648.715155026038, + 32.566243265238484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1580.407114797994, + -1648.715155026038, + 32.566243265238484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1583.407114797994, + -1648.715155026038, + 32.566243265238484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1586.407114797994, + -1648.715155026038, + 32.566243265238484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1589.407114797994, + -1648.715155026038, + 32.566243265238484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1592.407114797994, + -1648.715155026038, + 32.566243265238484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1595.407114797994, + -1648.715155026038, + 32.566243265238484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1598.407114797994, + -1648.715155026038, + 32.566243265238484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1601.407114797994, + -1648.715155026038, + 32.566243265238484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1604.407114797994, + -1648.715155026038, + 32.566243265238484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1607.407114797994, + -1648.715155026038, + 32.566243265238484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1610.407114797994, + -1648.715155026038, + 32.566243265238484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1613.407114797994, + -1648.715155026038, + 32.566243265238484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1616.407114797994, + -1648.715155026038, + 32.566243265238484 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1616.407114797994, + -1648.715155026038, + 32.566243265238484 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1619.0051910093473, + -1647.215155026038, + 32.566243265238484 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1621.6032672207007, + -1645.715155026038, + 32.566243265238484 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1624.201343432054, + -1644.215155026038, + 32.566243265238484 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1626.7994196434074, + -1642.715155026038, + 32.566243265238484 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1629.3974958547608, + -1641.215155026038, + 32.566243265238484 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1631.9955720661142, + -1639.715155026038, + 32.566243265238484 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1634.5936482774675, + -1638.215155026038, + 32.566243265238484 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1637.191724488821, + -1636.715155026038, + 32.566243265238484 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1639.7898007001743, + -1635.215155026038, + 32.566243265238484 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1642.3878769115277, + -1633.715155026038, + 32.566243265238484 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1644.985953122881, + -1632.215155026038, + 32.566243265238484 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1647.5840293342344, + -1630.715155026038, + 32.566243265238484 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1650.1821055455878, + -1629.215155026038, + 32.566243265238484 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1652.7801817569411, + -1627.715155026038, + 32.566243265238484 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1655.3782579682945, + -1626.215155026038, + 32.566243265238484 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1657.976334179648, + -1624.715155026038, + 32.566243265238484 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -1660.5744103910013, + -1623.215155026038, + 32.566243265238484 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -1663.1724866023546, + -1621.715155026038, + 32.566243265238484 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -1665.770562813708, + -1620.215155026038, + 32.566243265238484 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -1668.3686390250614, + -1618.715155026038, + 32.566243265238484 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -1670.9667152364148, + -1617.215155026038, + 32.566243265238484 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1708.0, + -1612.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_6-39-23_695991608/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_6-39-23_695991608/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..55023579b7a747ecf2821660baaff96e467ca95a --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_6-39-23_695991608/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1418.0354415232237, + -621.4231950548253, + 39.970057499727645 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1419.5354415232237, + -618.825118843472, + 39.970057499727645 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1421.0354415232237, + -616.2270426321186, + 39.970057499727645 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1422.5354415232237, + -613.6289664207652, + 39.970057499727645 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1424.0354415232237, + -611.0308902094118, + 39.970057499727645 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1425.5354415232237, + -608.4328139980585, + 39.970057499727645 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1427.0354415232237, + -605.8347377867051, + 39.970057499727645 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1428.5354415232237, + -603.2366615753517, + 39.970057499727645 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1430.0354415232237, + -600.6385853639983, + 39.970057499727645 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1431.5354415232237, + -598.040509152645, + 39.970057499727645 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1433.0354415232237, + -595.4424329412916, + 39.970057499727645 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1434.5354415232237, + -592.8443567299382, + 39.970057499727645 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1436.0354415232237, + -590.2462805185849, + 39.970057499727645 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1437.5354415232237, + -587.6482043072315, + 39.970057499727645 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1439.0354415232237, + -585.0501280958781, + 39.970057499727645 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1440.5354415232237, + -582.4520518845247, + 39.970057499727645 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1442.0354415232237, + -579.8539756731714, + 39.970057499727645 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1443.5354415232237, + -577.255899461818, + 39.970057499727645 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1445.0354415232237, + -574.6578232504646, + 39.970057499727645 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1446.5354415232237, + -572.0597470391112, + 39.970057499727645 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1448.0354415232237, + -569.4616708277579, + 39.970057499727645 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1449.5354415232237, + -566.8635946164045, + 39.970057499727645 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1451.0354415232237, + -564.2655184050511, + 39.970057499727645 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1452.5354415232237, + -561.6674421936978, + 39.970057499727645 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1454.0354415232237, + -559.0693659823444, + 39.970057499727645 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1455.5354415232237, + -556.471289770991, + 39.970057499727645 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1457.0354415232237, + -553.8732135596376, + 39.970057499727645 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1458.5354415232237, + -551.2751373482843, + 39.970057499727645 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1460.0354415232237, + -548.6770611369309, + 39.970057499727645 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1461.5354415232237, + -546.0789849255775, + 39.970057499727645 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1463.0354415232237, + -543.4809087142241, + 39.970057499727645 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1464.5354415232237, + -540.8828325028708, + 39.970057499727645 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1466.0354415232237, + -538.2847562915174, + 39.970057499727645 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1467.5354415232237, + -535.686680080164, + 39.970057499727645 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1469.0354415232237, + -533.0886038688107, + 39.970057499727645 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1470.5354415232237, + -530.4905276574573, + 39.970057499727645 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1472.0354415232237, + -527.8924514461039, + 39.970057499727645 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1473.5354415232237, + -525.2943752347505, + 39.970057499727645 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1473.5354415232237, + -525.2943752347505, + 39.970057499727645 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1473.5354415232237, + -522.2943752347505, + 39.970057499727645 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1473.5354415232237, + -519.2943752347505, + 39.970057499727645 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1473.5354415232237, + -516.2943752347505, + 39.970057499727645 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1473.5354415232237, + -513.2943752347505, + 39.970057499727645 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1473.5354415232237, + -513.2943752347505, + 39.970057499727645 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1475.0354415232237, + -510.6962990233972, + 39.970057499727645 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1488.0, + -484.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_6-40-18_551201745/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_6-40-18_551201745/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7be849e0be2db88307bdfceb5388776d4755ed2b --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_6-40-18_551201745/pose.jsonl @@ -0,0 +1,431 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2230.971026821066, + -150.2252994916917, + 21.19251383264749 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2229.471026821066, + -152.823375703045, + 21.19251383264749 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2227.971026821066, + -155.42145191439832, + 21.19251383264749 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2226.471026821066, + -158.01952812575163, + 21.19251383264749 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2224.971026821066, + -160.61760433710495, + 21.19251383264749 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2223.471026821066, + -163.21568054845827, + 21.19251383264749 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2221.971026821066, + -165.81375675981158, + 21.19251383264749 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2220.471026821066, + -168.4118329711649, + 21.19251383264749 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2218.971026821066, + -171.00990918251821, + 21.19251383264749 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 2217.471026821066, + -173.60798539387153, + 21.19251383264749 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2215.971026821066, + -176.20606160522485, + 21.19251383264749 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2214.471026821066, + -178.80413781657816, + 21.19251383264749 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 2212.971026821066, + -181.40221402793148, + 21.19251383264749 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 2211.471026821066, + -184.0002902392848, + 21.19251383264749 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 2209.971026821066, + -186.5983664506381, + 21.19251383264749 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 2208.471026821066, + -189.19644266199143, + 21.19251383264749 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 2206.971026821066, + -191.79451887334474, + 21.19251383264749 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 2205.471026821066, + -194.39259508469806, + 21.19251383264749 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 2203.971026821066, + -196.99067129605137, + 21.19251383264749 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 2202.471026821066, + -199.5887475074047, + 21.19251383264749 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 2200.971026821066, + -202.186823718758, + 21.19251383264749 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 2199.471026821066, + -204.78489993011132, + 21.19251383264749 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 2197.971026821066, + -207.38297614146464, + 21.19251383264749 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 2196.471026821066, + -209.98105235281795, + 21.19251383264749 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 2194.971026821066, + -212.57912856417127, + 21.19251383264749 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 2193.471026821066, + -215.1772047755246, + 21.19251383264749 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 2193.471026821066, + -215.1772047755246, + 21.19251383264749 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 2193.471026821066, + -218.1772047755246, + 21.19251383264749 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 2193.471026821066, + -218.1772047755246, + 21.19251383264749 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 2191.971026821066, + -220.7752809868779, + 21.19251383264749 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 2190.471026821066, + -223.37335719823122, + 21.19251383264749 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 2188.971026821066, + -225.97143340958453, + 21.19251383264749 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2148.0, + -300.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_6-41-6_1947867422/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_6-41-6_1947867422/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6fed01e3358219026e7b408c76b1c75b2c3597a1 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_6-41-6_1947867422/pose.jsonl @@ -0,0 +1,847 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1962.4298859242535, + 1417.6906913444795, + 29.164350121755643 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1959.8318097129002, + 1419.1906913444795, + 29.164350121755643 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1957.2337335015468, + 1420.6906913444795, + 29.164350121755643 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1954.6356572901934, + 1422.1906913444795, + 29.164350121755643 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1952.03758107884, + 1423.6906913444795, + 29.164350121755643 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1949.4395048674867, + 1425.1906913444795, + 29.164350121755643 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1946.8414286561333, + 1426.6906913444795, + 29.164350121755643 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1944.24335244478, + 1428.1906913444795, + 29.164350121755643 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1941.6452762334266, + 1429.6906913444795, + 29.164350121755643 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1939.0472000220732, + 1431.1906913444795, + 29.164350121755643 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1936.4491238107198, + 1432.6906913444795, + 29.164350121755643 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1933.8510475993664, + 1434.1906913444795, + 29.164350121755643 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1931.252971388013, + 1435.6906913444795, + 29.164350121755643 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1928.6548951766597, + 1437.1906913444795, + 29.164350121755643 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1926.0568189653063, + 1438.6906913444795, + 29.164350121755643 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1923.458742753953, + 1440.1906913444795, + 29.164350121755643 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1920.8606665425996, + 1441.6906913444795, + 29.164350121755643 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1918.2625903312462, + 1443.1906913444795, + 29.164350121755643 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1915.6645141198928, + 1444.6906913444795, + 29.164350121755643 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1913.0664379085395, + 1446.1906913444795, + 29.164350121755643 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1910.468361697186, + 1447.6906913444795, + 29.164350121755643 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1907.8702854858327, + 1449.1906913444795, + 29.164350121755643 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1905.2722092744793, + 1450.6906913444795, + 29.164350121755643 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1902.674133063126, + 1452.1906913444795, + 29.164350121755643 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1900.0760568517726, + 1453.6906913444795, + 29.164350121755643 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1897.4779806404192, + 1455.1906913444795, + 29.164350121755643 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1894.8799044290658, + 1456.6906913444795, + 29.164350121755643 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1892.2818282177125, + 1458.1906913444795, + 29.164350121755643 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1889.683752006359, + 1459.6906913444795, + 29.164350121755643 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1889.683752006359, + 1459.6906913444795, + 29.164350121755643 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1888.183752006359, + 1462.288767555833, + 29.164350121755643 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1886.683752006359, + 1464.8868437671863, + 29.164350121755643 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1885.183752006359, + 1467.4849199785397, + 29.164350121755643 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1883.683752006359, + 1470.082996189893, + 29.164350121755643 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1882.183752006359, + 1472.6810724012464, + 29.164350121755643 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1880.683752006359, + 1475.2791486125998, + 29.164350121755643 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1880.683752006359, + 1475.2791486125998, + 29.164350121755643 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1880.683752006359, + 1478.2791486125998, + 29.164350121755643 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1880.683752006359, + 1478.2791486125998, + 29.164350121755643 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1880.683752006359, + 1478.2791486125998, + 29.164350121755643 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1880.683752006359, + 1478.2791486125998, + 29.164350121755643 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1877.683752006359, + 1478.2791486125998, + 29.164350121755643 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1874.683752006359, + 1478.2791486125998, + 29.164350121755643 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1871.683752006359, + 1478.2791486125998, + 29.164350121755643 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1868.683752006359, + 1478.2791486125998, + 29.164350121755643 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1865.683752006359, + 1478.2791486125998, + 29.164350121755643 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1862.683752006359, + 1478.2791486125998, + 29.164350121755643 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1859.683752006359, + 1478.2791486125998, + 29.164350121755643 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1856.683752006359, + 1478.2791486125998, + 29.164350121755643 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1856.683752006359, + 1478.2791486125998, + 29.164350121755643 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1854.0856757950057, + 1479.7791486125998, + 29.164350121755643 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1851.4875995836524, + 1481.2791486125998, + 29.164350121755643 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1851.4875995836524, + 1481.2791486125998, + 29.164350121755643 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1848.4875995836524, + 1481.2791486125998, + 29.164350121755643 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1845.4875995836524, + 1481.2791486125998, + 29.164350121755643 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1842.4875995836524, + 1481.2791486125998, + 29.164350121755643 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1842.4875995836524, + 1481.2791486125998, + 29.164350121755643 + ], + "type": "turn left", + "value": 30, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1842.4875995836524, + 1481.2791486125998, + 29.164350121755643 + ], + "type": "go straight", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1840.9875995836524, + 1478.6810724012464, + 29.164350121755643 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1839.4875995836524, + 1476.082996189893, + 29.164350121755643 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1837.9875995836524, + 1473.4849199785397, + 29.164350121755643 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1837.9875995836524, + 1473.4849199785397, + 29.164350121755643 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1835.389523372299, + 1471.9849199785397, + 29.164350121755643 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1832.7914471609456, + 1470.4849199785397, + 29.164350121755643 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1812.0, + 1476.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_6-47-3_805251743/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_6-47-3_805251743/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..84d2cf5bb06b2f243dd821db30ab4d2959d3405a --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_6-47-3_805251743/pose.jsonl @@ -0,0 +1,561 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1209.2402441786044, + -222.8221159617351, + 36.428051790108974 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1206.2402441786044, + -222.8221159617351, + 36.428051790108974 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1203.2402441786044, + -222.8221159617351, + 36.428051790108974 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1200.2402441786044, + -222.8221159617351, + 36.428051790108974 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1200.2402441786044, + -222.8221159617351, + 36.428051790108974 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1197.642167967251, + -221.3221159617351, + 36.428051790108974 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1195.0440917558976, + -219.8221159617351, + 36.428051790108974 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1192.4460155445443, + -218.3221159617351, + 36.428051790108974 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1189.8479393331909, + -216.8221159617351, + 36.428051790108974 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1187.2498631218375, + -215.3221159617351, + 36.428051790108974 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1184.6517869104841, + -213.8221159617351, + 36.428051790108974 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1182.0537106991308, + -212.3221159617351, + 36.428051790108974 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1179.4556344877774, + -210.8221159617351, + 36.428051790108974 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1176.857558276424, + -209.3221159617351, + 36.428051790108974 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1174.2594820650706, + -207.8221159617351, + 36.428051790108974 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1171.6614058537173, + -206.3221159617351, + 36.428051790108974 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1169.063329642364, + -204.8221159617351, + 36.428051790108974 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1166.4652534310105, + -203.3221159617351, + 36.428051790108974 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1163.8671772196572, + -201.8221159617351, + 36.428051790108974 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1161.2691010083038, + -200.3221159617351, + 36.428051790108974 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1158.6710247969504, + -198.8221159617351, + 36.428051790108974 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1158.6710247969504, + -198.8221159617351, + 36.428051790108974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1157.1710247969504, + -196.2240397503818, + 36.428051790108974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1155.6710247969504, + -193.62596353902848, + 36.428051790108974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1154.1710247969504, + -191.02788732767516, + 36.428051790108974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1152.6710247969504, + -188.42981111632184, + 36.428051790108974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1151.1710247969504, + -185.83173490496853, + 36.428051790108974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1149.6710247969504, + -183.2336586936152, + 36.428051790108974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1148.1710247969504, + -180.6355824822619, + 36.428051790108974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1146.6710247969504, + -178.03750627090858, + 36.428051790108974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1145.1710247969504, + -175.43943005955526, + 36.428051790108974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1143.6710247969504, + -172.84135384820195, + 36.428051790108974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1142.1710247969504, + -170.24327763684863, + 36.428051790108974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1140.6710247969504, + -167.64520142549532, + 36.428051790108974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1139.1710247969504, + -165.047125214142, + 36.428051790108974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1137.6710247969504, + -162.44904900278868, + 36.428051790108974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1136.1710247969504, + -159.85097279143537, + 36.428051790108974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1134.6710247969504, + -157.25289658008205, + 36.428051790108974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1133.1710247969504, + -154.65482036872874, + 36.428051790108974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1131.6710247969504, + -152.05674415737542, + 36.428051790108974 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1131.6710247969504, + -152.05674415737542, + 36.428051790108974 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1129.072948585597, + -150.55674415737542, + 36.428051790108974 + ], + "type": "stop", + "value": 0, + "yaw": 0.523598775598299 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1092.0, + -120.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_6-5-22_1835342733/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_6-5-22_1835342733/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1820e5b14c94fd6077984aabe906bb842195a006 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_6-5-22_1835342733/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3396.8837089941258, + -840.7052930946746, + 39.00522406355871 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3399.8837089941258, + -840.7052930946746, + 39.00522406355871 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3402.8837089941258, + -840.7052930946746, + 39.00522406355871 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3405.8837089941258, + -840.7052930946746, + 39.00522406355871 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3408.8837089941258, + -840.7052930946746, + 39.00522406355871 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3411.8837089941258, + -840.7052930946746, + 39.00522406355871 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3414.8837089941258, + -840.7052930946746, + 39.00522406355871 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3417.8837089941258, + -840.7052930946746, + 39.00522406355871 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 3420.8837089941258, + -840.7052930946746, + 39.00522406355871 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 3423.8837089941258, + -840.7052930946746, + 39.00522406355871 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 3426.8837089941258, + -840.7052930946746, + 39.00522406355871 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 3429.8837089941258, + -840.7052930946746, + 39.00522406355871 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 3432.8837089941258, + -840.7052930946746, + 39.00522406355871 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 3435.8837089941258, + -840.7052930946746, + 39.00522406355871 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 3438.8837089941258, + -840.7052930946746, + 39.00522406355871 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 3441.8837089941258, + -840.7052930946746, + 39.00522406355871 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 3444.8837089941258, + -840.7052930946746, + 39.00522406355871 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 3447.8837089941258, + -840.7052930946746, + 39.00522406355871 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 3447.8837089941258, + -840.7052930946746, + 39.00522406355871 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 3447.8837089941258, + -840.7052930946746, + 39.00522406355871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 3449.3837089941258, + -838.1072168833214, + 39.00522406355871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 3450.8837089941258, + -835.509140671968, + 39.00522406355871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 3452.3837089941258, + -832.9110644606146, + 39.00522406355871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 3453.8837089941258, + -830.3129882492613, + 39.00522406355871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 3455.3837089941258, + -827.7149120379079, + 39.00522406355871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 3456.8837089941258, + -825.1168358265545, + 39.00522406355871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 3458.3837089941258, + -822.5187596152011, + 39.00522406355871 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 3458.3837089941258, + -822.5187596152011, + 39.00522406355871 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 3460.981785205479, + -821.0187596152011, + 39.00522406355871 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 3463.579861416832, + -819.5187596152011, + 39.00522406355871 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 3466.177937628185, + -818.0187596152011, + 39.00522406355871 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 3468.7760138395383, + -816.5187596152011, + 39.00522406355871 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 3471.3740900508915, + -815.0187596152011, + 39.00522406355871 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 3473.9721662622446, + -813.5187596152011, + 39.00522406355871 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 3476.5702424735978, + -812.0187596152011, + 39.00522406355871 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 3479.168318684951, + -810.5187596152011, + 39.00522406355871 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 3481.766394896304, + -809.0187596152011, + 39.00522406355871 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 3484.364471107657, + -807.5187596152011, + 39.00522406355871 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 3486.9625473190104, + -806.0187596152011, + 39.00522406355871 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 3489.5606235303635, + -804.5187596152011, + 39.00522406355871 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 3492.1586997417166, + -803.0187596152011, + 39.00522406355871 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 3494.75677595307, + -801.5187596152011, + 39.00522406355871 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 3497.354852164423, + -800.0187596152011, + 39.00522406355871 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 3499.952928375776, + -798.5187596152011, + 39.00522406355871 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 3502.5510045871292, + -797.0187596152011, + 39.00522406355871 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 3505.1490807984824, + -795.5187596152011, + 39.00522406355871 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755983272 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3540.0, + -784.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_6-57-9_1389079342/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_6-57-9_1389079342/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ed05e8e51815beb6fb8e3ccaa90207d74da9de04 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_6-57-9_1389079342/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -959.004557022634, + -2224.1108169635286, + 31.688291730083247 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -957.504557022634, + -2226.7088931748817, + 31.688291730083247 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -956.004557022634, + -2229.306969386235, + 31.688291730083247 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -954.504557022634, + -2231.905045597588, + 31.688291730083247 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -954.504557022634, + -2231.905045597588, + 31.688291730083247 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982706 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -951.9064808112807, + -2233.405045597588, + 31.688291730083247 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -949.3084045999274, + -2234.905045597588, + 31.688291730083247 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -946.710328388574, + -2236.405045597588, + 31.688291730083247 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -944.1122521772206, + -2237.905045597588, + 31.688291730083247 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -941.5141759658673, + -2239.405045597588, + 31.688291730083247 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -938.9160997545139, + -2240.905045597588, + 31.688291730083247 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -936.3180235431605, + -2242.405045597588, + 31.688291730083247 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -933.7199473318071, + -2243.905045597588, + 31.688291730083247 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -931.1218711204538, + -2245.405045597588, + 31.688291730083247 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -928.5237949091004, + -2246.905045597588, + 31.688291730083247 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -925.925718697747, + -2248.405045597588, + 31.688291730083247 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -923.3276424863936, + -2249.905045597588, + 31.688291730083247 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -920.7295662750403, + -2251.405045597588, + 31.688291730083247 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -918.1314900636869, + -2252.905045597588, + 31.688291730083247 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -915.5334138523335, + -2254.405045597588, + 31.688291730083247 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -912.9353376409802, + -2255.905045597588, + 31.688291730083247 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -910.3372614296268, + -2257.405045597588, + 31.688291730083247 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -907.7391852182734, + -2258.905045597588, + 31.688291730083247 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -905.14110900692, + -2260.405045597588, + 31.688291730083247 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -902.5430327955667, + -2261.905045597588, + 31.688291730083247 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -899.9449565842133, + -2263.405045597588, + 31.688291730083247 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -897.3468803728599, + -2264.905045597588, + 31.688291730083247 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -894.7488041615065, + -2266.405045597588, + 31.688291730083247 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -892.1507279501532, + -2267.905045597588, + 31.688291730083247 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -889.5526517387998, + -2269.405045597588, + 31.688291730083247 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -886.9545755274464, + -2270.905045597588, + 31.688291730083247 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -884.356499316093, + -2272.405045597588, + 31.688291730083247 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -881.7584231047397, + -2273.905045597588, + 31.688291730083247 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -879.1603468933863, + -2275.405045597588, + 31.688291730083247 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -876.5622706820329, + -2276.905045597588, + 31.688291730083247 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -873.9641944706796, + -2278.405045597588, + 31.688291730083247 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -871.3661182593262, + -2279.905045597588, + 31.688291730083247 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -868.7680420479728, + -2281.405045597588, + 31.688291730083247 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -866.1699658366194, + -2282.905045597588, + 31.688291730083247 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -863.5718896252661, + -2284.405045597588, + 31.688291730083247 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -860.9738134139127, + -2285.905045597588, + 31.688291730083247 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -858.3757372025593, + -2287.405045597588, + 31.688291730083247 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -855.777660991206, + -2288.905045597588, + 31.688291730083247 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -855.777660991206, + -2288.905045597588, + 31.688291730083247 + ], + "type": "go straight", + "value": 3, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -852.777660991206, + -2288.905045597588, + 31.688291730083247 + ], + "type": "stop", + "value": 0, + "yaw": 9.43689570931383e-15 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -820.0, + -2308.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_6-58-34_4744263/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_6-58-34_4744263/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ab32abaa1ed3735086e79275fe4cc05dfcf4f2df --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_6-58-34_4744263/pose.jsonl @@ -0,0 +1,847 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 939.6372841426513, + -2798.118043746153, + 17.089447645769567 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 936.6372841426513, + -2798.118043746153, + 17.089447645769567 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 933.6372841426513, + -2798.118043746153, + 17.089447645769567 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 930.6372841426513, + -2798.118043746153, + 17.089447645769567 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 927.6372841426513, + -2798.118043746153, + 17.089447645769567 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 924.6372841426513, + -2798.118043746153, + 17.089447645769567 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 921.6372841426513, + -2798.118043746153, + 17.089447645769567 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 918.6372841426513, + -2798.118043746153, + 17.089447645769567 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 915.6372841426513, + -2798.118043746153, + 17.089447645769567 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 912.6372841426513, + -2798.118043746153, + 17.089447645769567 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 909.6372841426513, + -2798.118043746153, + 17.089447645769567 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 909.6372841426513, + -2798.118043746153, + 17.089447645769567 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 909.6372841426513, + -2798.118043746153, + 17.089447645769567 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 909.6372841426513, + -2798.118043746153, + 17.089447645769567 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 909.6372841426513, + -2795.118043746153, + 17.089447645769567 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 909.6372841426513, + -2792.118043746153, + 17.089447645769567 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 909.6372841426513, + -2789.118043746153, + 17.089447645769567 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 909.6372841426513, + -2786.118043746153, + 17.089447645769567 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 909.6372841426513, + -2783.118043746153, + 17.089447645769567 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 909.6372841426513, + -2780.118043746153, + 17.089447645769567 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 909.6372841426513, + -2777.118043746153, + 17.089447645769567 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 909.6372841426513, + -2774.118043746153, + 17.089447645769567 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 909.6372841426513, + -2771.118043746153, + 17.089447645769567 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 909.6372841426513, + -2768.118043746153, + 17.089447645769567 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 909.6372841426513, + -2765.118043746153, + 17.089447645769567 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 909.6372841426513, + -2762.118043746153, + 17.089447645769567 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 909.6372841426513, + -2759.118043746153, + 17.089447645769567 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 909.6372841426513, + -2756.118043746153, + 17.089447645769567 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 909.6372841426513, + -2753.118043746153, + 17.089447645769567 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 909.6372841426513, + -2750.118043746153, + 17.089447645769567 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 909.6372841426513, + -2747.118043746153, + 17.089447645769567 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 909.6372841426513, + -2744.118043746153, + 17.089447645769567 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 909.6372841426513, + -2741.118043746153, + 17.089447645769567 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 909.6372841426513, + -2738.118043746153, + 17.089447645769567 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 909.6372841426513, + -2735.118043746153, + 17.089447645769567 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 909.6372841426513, + -2732.118043746153, + 17.089447645769567 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 909.6372841426513, + -2729.118043746153, + 17.089447645769567 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 909.6372841426513, + -2726.118043746153, + 17.089447645769567 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 909.6372841426513, + -2726.118043746153, + 17.089447645769567 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 908.1372841426513, + -2723.5199675348, + 17.089447645769567 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 906.6372841426513, + -2720.9218913234467, + 17.089447645769567 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 905.1372841426513, + -2718.3238151120936, + 17.089447645769567 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 905.1372841426513, + -2718.3238151120936, + 17.089447645769567 + ], + "type": "go straight", + "value": 3, + "yaw": 1.570796326794925 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 905.1372841426513, + -2715.3238151120936, + 17.089447645769567 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 905.1372841426513, + -2712.3238151120936, + 17.089447645769567 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 905.1372841426513, + -2709.3238151120936, + 17.089447645769567 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 905.1372841426513, + -2706.3238151120936, + 17.089447645769567 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 905.1372841426513, + -2703.3238151120936, + 17.089447645769567 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 905.1372841426513, + -2700.3238151120936, + 17.089447645769567 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 905.1372841426513, + -2697.3238151120936, + 17.089447645769567 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 905.1372841426513, + -2694.3238151120936, + 17.089447645769567 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 905.1372841426513, + -2691.3238151120936, + 17.089447645769567 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 905.1372841426513, + -2688.3238151120936, + 17.089447645769567 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 905.1372841426513, + -2685.3238151120936, + 17.089447645769567 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 905.1372841426513, + -2682.3238151120936, + 17.089447645769567 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 905.1372841426513, + -2679.3238151120936, + 17.089447645769567 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 905.1372841426513, + -2676.3238151120936, + 17.089447645769567 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 905.1372841426513, + -2673.3238151120936, + 17.089447645769567 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 905.1372841426513, + -2673.3238151120936, + 17.089447645769567 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 906.6372841426513, + -2670.7257389007405, + 17.089447645769567 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 908.1372841426513, + -2668.1276626893873, + 17.089447645769567 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 909.6372841426513, + -2665.529586478034, + 17.089447645769567 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 911.1372841426513, + -2662.931510266681, + 17.089447645769567 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 912.6372841426513, + -2660.333434055328, + 17.089447645769567 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965694 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 908.0, + -2632.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_6-59-34_1153263590/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_6-59-34_1153263590/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..763dd4f56914cf88337d0ac830ccf0aaba32eeb4 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_6-59-34_1153263590/pose.jsonl @@ -0,0 +1,470 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1037.9564805772293, + -227.01972850168363, + 23.53001135666515 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1039.4564805772293, + -229.61780471303695, + 23.53001135666515 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1040.9564805772293, + -232.21588092439026, + 23.53001135666515 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1042.4564805772293, + -234.81395713574358, + 23.53001135666515 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1043.9564805772293, + -237.4120333470969, + 23.53001135666515 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1045.4564805772293, + -240.0101095584502, + 23.53001135666515 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1046.9564805772293, + -242.60818576980353, + 23.53001135666515 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1048.4564805772293, + -245.20626198115684, + 23.53001135666515 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1048.4564805772293, + -245.20626198115684, + 23.53001135666515 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1051.0545567885827, + -246.70626198115684, + 23.53001135666515 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1053.652632999936, + -248.20626198115684, + 23.53001135666515 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1056.2507092112894, + -249.70626198115684, + 23.53001135666515 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1058.8487854226428, + -251.20626198115684, + 23.53001135666515 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1061.4468616339961, + -252.70626198115684, + 23.53001135666515 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1064.0449378453495, + -254.20626198115684, + 23.53001135666515 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1066.643014056703, + -255.70626198115684, + 23.53001135666515 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1069.2410902680563, + -257.20626198115684, + 23.53001135666515 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1071.8391664794096, + -258.70626198115684, + 23.53001135666515 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1074.437242690763, + -260.20626198115684, + 23.53001135666515 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1077.0353189021164, + -261.70626198115684, + 23.53001135666515 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1079.6333951134698, + -263.20626198115684, + 23.53001135666515 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1082.2314713248231, + -264.70626198115684, + 23.53001135666515 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1084.8295475361765, + -266.20626198115684, + 23.53001135666515 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1087.4276237475299, + -267.70626198115684, + 23.53001135666515 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1090.0256999588833, + -269.20626198115684, + 23.53001135666515 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1092.6237761702366, + -270.70626198115684, + 23.53001135666515 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1095.22185238159, + -272.20626198115684, + 23.53001135666515 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1097.8199285929434, + -273.70626198115684, + 23.53001135666515 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1100.4180048042967, + -275.20626198115684, + 23.53001135666515 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1103.0160810156501, + -276.70626198115684, + 23.53001135666515 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1105.6141572270035, + -278.20626198115684, + 23.53001135666515 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1108.2122334383569, + -279.70626198115684, + 23.53001135666515 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1110.8103096497102, + -281.20626198115684, + 23.53001135666515 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1113.4083858610636, + -282.70626198115684, + 23.53001135666515 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1116.006462072417, + -284.20626198115684, + 23.53001135666515 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1176.0, + -328.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_6-6-12_2002992734/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_6-6-12_2002992734/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..05171a0a91dc7dd1cf24219f481b29e574c55db7 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_6-6-12_2002992734/pose.jsonl @@ -0,0 +1,756 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 69.20981328050249, + 1077.3468731109879, + 38.2461120697291 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 67.70981328050249, + 1079.9449493223412, + 38.2461120697291 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 66.20981328050249, + 1082.5430255336946, + 38.2461120697291 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 64.70981328050249, + 1085.141101745048, + 38.2461120697291 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 63.20981328050249, + 1087.7391779564014, + 38.2461120697291 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 61.70981328050249, + 1090.3372541677547, + 38.2461120697291 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 60.20981328050249, + 1092.935330379108, + 38.2461120697291 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 58.70981328050249, + 1095.5334065904615, + 38.2461120697291 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 57.20981328050249, + 1098.1314828018149, + 38.2461120697291 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 55.70981328050249, + 1100.7295590131682, + 38.2461120697291 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 54.20981328050249, + 1103.3276352245216, + 38.2461120697291 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 52.70981328050249, + 1105.925711435875, + 38.2461120697291 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 51.20981328050249, + 1108.5237876472283, + 38.2461120697291 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 49.70981328050249, + 1111.1218638585817, + 38.2461120697291 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 48.20981328050249, + 1113.719940069935, + 38.2461120697291 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 46.70981328050249, + 1116.3180162812885, + 38.2461120697291 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 45.20981328050249, + 1118.9160924926418, + 38.2461120697291 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 43.70981328050249, + 1121.5141687039952, + 38.2461120697291 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 42.20981328050249, + 1124.1122449153486, + 38.2461120697291 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 40.70981328050249, + 1126.710321126702, + 38.2461120697291 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 39.20981328050249, + 1129.3083973380553, + 38.2461120697291 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 37.70981328050249, + 1131.9064735494087, + 38.2461120697291 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 36.20981328050249, + 1134.504549760762, + 38.2461120697291 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 34.70981328050249, + 1137.1026259721154, + 38.2461120697291 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 33.20981328050249, + 1139.7007021834688, + 38.2461120697291 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 31.709813280502487, + 1142.2987783948222, + 38.2461120697291 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 30.209813280502487, + 1144.8968546061756, + 38.2461120697291 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 28.709813280502487, + 1147.494930817529, + 38.2461120697291 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 28.709813280502487, + 1147.494930817529, + 38.2461120697291 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 28.709813280502487, + 1150.494930817529, + 38.2461120697291 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 28.709813280502487, + 1153.494930817529, + 38.2461120697291 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 28.709813280502487, + 1156.494930817529, + 38.2461120697291 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 28.709813280502487, + 1159.494930817529, + 38.2461120697291 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 28.709813280502487, + 1162.494930817529, + 38.2461120697291 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 28.709813280502487, + 1165.494930817529, + 38.2461120697291 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 28.709813280502487, + 1168.494930817529, + 38.2461120697291 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 28.709813280502487, + 1171.494930817529, + 38.2461120697291 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 28.709813280502487, + 1174.494930817529, + 38.2461120697291 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 28.709813280502487, + 1177.494930817529, + 38.2461120697291 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 28.709813280502487, + 1180.494930817529, + 38.2461120697291 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 28.709813280502487, + 1180.494930817529, + 38.2461120697291 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 28.709813280502487, + 1180.494930817529, + 38.2461120697291 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 26.11173706914917, + 1181.994930817529, + 38.2461120697291 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 23.513660857795855, + 1183.494930817529, + 38.2461120697291 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 20.91558464644254, + 1184.994930817529, + 38.2461120697291 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 18.317508435089223, + 1186.494930817529, + 38.2461120697291 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 15.719432223735907, + 1187.994930817529, + 38.2461120697291 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 13.121356012382591, + 1189.494930817529, + 38.2461120697291 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 10.523279801029275, + 1190.994930817529, + 38.2461120697291 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 7.925203589675959, + 1192.494930817529, + 38.2461120697291 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 5.327127378322643, + 1193.994930817529, + 38.2461120697291 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 5.327127378322643, + 1193.994930817529, + 38.2461120697291 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 3.8271273783226443, + 1196.5930070288823, + 38.2461120697291 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 2.327127378322645, + 1199.1910832402357, + 38.2461120697291 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 2.327127378322645, + 1199.1910832402357, + 38.2461120697291 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 2.327127378322645, + 1202.1910832402357, + 38.2461120697291 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 2.327127378322645, + 1205.1910832402357, + 38.2461120697291 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -8.0, + 1224.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_7-15-36_922587542/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_7-15-36_922587542/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2a48d14e0dfc20b825809c7a20cb3e70dcc3ad8c --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_7-15-36_922587542/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -863.5586770651278, + 1828.727328067278, + 35.025898124728045 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -860.9606008537744, + 1827.227328067278, + 35.025898124728045 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -858.362524642421, + 1825.727328067278, + 35.025898124728045 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -855.7644484310676, + 1824.227328067278, + 35.025898124728045 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -853.1663722197143, + 1822.727328067278, + 35.025898124728045 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -850.5682960083609, + 1821.227328067278, + 35.025898124728045 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -847.9702197970075, + 1819.727328067278, + 35.025898124728045 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -845.3721435856542, + 1818.227328067278, + 35.025898124728045 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -842.7740673743008, + 1816.727328067278, + 35.025898124728045 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -840.1759911629474, + 1815.227328067278, + 35.025898124728045 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -837.577914951594, + 1813.727328067278, + 35.025898124728045 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -834.9798387402407, + 1812.227328067278, + 35.025898124728045 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -832.3817625288873, + 1810.727328067278, + 35.025898124728045 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -829.7836863175339, + 1809.227328067278, + 35.025898124728045 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -827.1856101061805, + 1807.727328067278, + 35.025898124728045 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -824.5875338948272, + 1806.227328067278, + 35.025898124728045 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -821.9894576834738, + 1804.727328067278, + 35.025898124728045 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -819.3913814721204, + 1803.227328067278, + 35.025898124728045 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -816.793305260767, + 1801.727328067278, + 35.025898124728045 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -814.1952290494137, + 1800.227328067278, + 35.025898124728045 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -811.5971528380603, + 1798.727328067278, + 35.025898124728045 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -808.9990766267069, + 1797.227328067278, + 35.025898124728045 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -806.4010004153536, + 1795.727328067278, + 35.025898124728045 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -803.8029242040002, + 1794.227328067278, + 35.025898124728045 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -801.2048479926468, + 1792.727328067278, + 35.025898124728045 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -798.6067717812934, + 1791.227328067278, + 35.025898124728045 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -796.0086955699401, + 1789.727328067278, + 35.025898124728045 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -793.4106193585867, + 1788.227328067278, + 35.025898124728045 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -790.8125431472333, + 1786.727328067278, + 35.025898124728045 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -788.21446693588, + 1785.227328067278, + 35.025898124728045 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -785.6163907245266, + 1783.727328067278, + 35.025898124728045 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -783.0183145131732, + 1782.227328067278, + 35.025898124728045 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -780.4202383018198, + 1780.727328067278, + 35.025898124728045 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -777.8221620904665, + 1779.227328067278, + 35.025898124728045 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -775.2240858791131, + 1777.727328067278, + 35.025898124728045 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -772.6260096677597, + 1776.227328067278, + 35.025898124728045 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -770.0279334564063, + 1774.727328067278, + 35.025898124728045 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -767.429857245053, + 1773.227328067278, + 35.025898124728045 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -764.8317810336996, + 1771.727328067278, + 35.025898124728045 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -762.2337048223462, + 1770.227328067278, + 35.025898124728045 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -759.6356286109929, + 1768.727328067278, + 35.025898124728045 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -757.0375523996395, + 1767.227328067278, + 35.025898124728045 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -754.4394761882861, + 1765.727328067278, + 35.025898124728045 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -754.4394761882861, + 1765.727328067278, + 35.025898124728045 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -752.9394761882861, + 1763.1292518559246, + 35.025898124728045 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -751.4394761882861, + 1760.5311756445712, + 35.025898124728045 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -749.9394761882861, + 1757.9330994332179, + 35.025898124728045 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -748.4394761882861, + 1755.3350232218645, + 35.025898124728045 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -728.0, + 1744.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_7-21-15_192048860/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_7-21-15_192048860/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..704503a4e84a55ead227a88568fb6211813ef20a --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_7-21-15_192048860/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2127.0553308675508, + -204.15990024047835, + 37.906584220931364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2125.5553308675508, + -206.75797645183167, + 37.906584220931364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2124.0553308675508, + -209.35605266318498, + 37.906584220931364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2122.5553308675508, + -211.9541288745383, + 37.906584220931364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2121.0553308675508, + -214.55220508589161, + 37.906584220931364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2119.5553308675508, + -217.15028129724493, + 37.906584220931364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2118.0553308675508, + -219.74835750859825, + 37.906584220931364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2116.5553308675508, + -222.34643371995156, + 37.906584220931364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2115.0553308675508, + -224.94450993130488, + 37.906584220931364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2113.5553308675508, + -227.5425861426582, + 37.906584220931364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2112.0553308675508, + -230.1406623540115, + 37.906584220931364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2110.5553308675508, + -232.73873856536483, + 37.906584220931364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2109.0553308675508, + -235.33681477671814, + 37.906584220931364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2107.5553308675508, + -237.93489098807146, + 37.906584220931364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2106.0553308675508, + -240.53296719942477, + 37.906584220931364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2104.5553308675508, + -243.1310434107781, + 37.906584220931364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2103.0553308675508, + -245.7291196221314, + 37.906584220931364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2101.5553308675508, + -248.32719583348472, + 37.906584220931364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2100.0553308675508, + -250.92527204483804, + 37.906584220931364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2098.5553308675508, + -253.52334825619135, + 37.906584220931364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2097.0553308675508, + -256.12142446754467, + 37.906584220931364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2095.5553308675508, + -258.719500678898, + 37.906584220931364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2094.0553308675508, + -261.3175768902513, + 37.906584220931364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2092.5553308675508, + -263.9156531016046, + 37.906584220931364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2091.0553308675508, + -266.51372931295793, + 37.906584220931364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2089.5553308675508, + -269.11180552431125, + 37.906584220931364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2088.0553308675508, + -271.70988173566457, + 37.906584220931364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2086.5553308675508, + -274.3079579470179, + 37.906584220931364 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2086.5553308675508, + -274.3079579470179, + 37.906584220931364 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2083.9572546561976, + -275.8079579470179, + 37.906584220931364 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2081.3591784448445, + -277.3079579470179, + 37.906584220931364 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2078.7611022334913, + -278.8079579470179, + 37.906584220931364 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2076.163026022138, + -280.3079579470179, + 37.906584220931364 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2073.564949810785, + -281.8079579470179, + 37.906584220931364 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2070.966873599432, + -283.3079579470179, + 37.906584220931364 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -2068.3687973880787, + -284.8079579470179, + 37.906584220931364 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -2065.7707211767256, + -286.3079579470179, + 37.906584220931364 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -2063.1726449653725, + -287.8079579470179, + 37.906584220931364 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -2060.5745687540193, + -289.3079579470179, + 37.906584220931364 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -2057.976492542666, + -290.8079579470179, + 37.906584220931364 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -2055.378416331313, + -292.3079579470179, + 37.906584220931364 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -2052.78034011996, + -293.8079579470179, + 37.906584220931364 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -2050.1822639086067, + -295.3079579470179, + 37.906584220931364 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -2047.5841876972534, + -296.8079579470179, + 37.906584220931364 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -2044.9861114859, + -298.3079579470179, + 37.906584220931364 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -2042.3880352745466, + -299.8079579470179, + 37.906584220931364 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -2039.7899590631932, + -301.3079579470179, + 37.906584220931364 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -2037.1918828518399, + -302.8079579470179, + 37.906584220931364 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -2034.5938066404865, + -304.3079579470179, + 37.906584220931364 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -2031.9957304291331, + -305.8079579470179, + 37.906584220931364 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -2029.3976542177797, + -307.3079579470179, + 37.906584220931364 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -2026.7995780064264, + -308.8079579470179, + 37.906584220931364 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -2024.201501795073, + -310.3079579470179, + 37.906584220931364 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -2021.6034255837196, + -311.8079579470179, + 37.906584220931364 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2008.0, + -324.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_7-24-1_185963953/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_7-24-1_185963953/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3d6dd997d1ca92bfb1cf60c7aa51e795eedfd598 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_7-24-1_185963953/pose.jsonl @@ -0,0 +1,483 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 692.0891620823045, + 458.0825482572174, + 20.48200803958376 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 694.6872382936579, + 456.5825482572174, + 20.48200803958376 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 697.2853145050112, + 455.0825482572174, + 20.48200803958376 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 699.8833907163646, + 453.5825482572174, + 20.48200803958376 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 702.481466927718, + 452.0825482572174, + 20.48200803958376 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 705.0795431390713, + 450.5825482572174, + 20.48200803958376 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 707.6776193504247, + 449.0825482572174, + 20.48200803958376 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 710.2756955617781, + 447.5825482572174, + 20.48200803958376 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 712.8737717731315, + 446.0825482572174, + 20.48200803958376 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 715.4718479844848, + 444.5825482572174, + 20.48200803958376 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 718.0699241958382, + 443.0825482572174, + 20.48200803958376 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 720.6680004071916, + 441.5825482572174, + 20.48200803958376 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 723.266076618545, + 440.0825482572174, + 20.48200803958376 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 725.8641528298983, + 438.5825482572174, + 20.48200803958376 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 728.4622290412517, + 437.0825482572174, + 20.48200803958376 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 731.0603052526051, + 435.5825482572174, + 20.48200803958376 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 733.6583814639584, + 434.0825482572174, + 20.48200803958376 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 736.2564576753118, + 432.5825482572174, + 20.48200803958376 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 738.8545338866652, + 431.0825482572174, + 20.48200803958376 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 741.4526100980186, + 429.5825482572174, + 20.48200803958376 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 744.0506863093719, + 428.0825482572174, + 20.48200803958376 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 746.6487625207253, + 426.5825482572174, + 20.48200803958376 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 749.2468387320787, + 425.0825482572174, + 20.48200803958376 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 751.8449149434321, + 423.5825482572174, + 20.48200803958376 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 754.4429911547854, + 422.0825482572174, + 20.48200803958376 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 757.0410673661388, + 420.5825482572174, + 20.48200803958376 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 759.6391435774922, + 419.0825482572174, + 20.48200803958376 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 762.2372197888456, + 417.5825482572174, + 20.48200803958376 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 764.8352960001989, + 416.0825482572174, + 20.48200803958376 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 767.4333722115523, + 414.5825482572174, + 20.48200803958376 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 767.4333722115523, + 414.5825482572174, + 20.48200803958376 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 768.9333722115523, + 411.9844720458641, + 20.48200803958376 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 770.4333722115523, + 409.3863958345108, + 20.48200803958376 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 771.9333722115523, + 406.78831962315746, + 20.48200803958376 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 773.4333722115523, + 404.19024341180415, + 20.48200803958376 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 774.9333722115523, + 401.59216720045083, + 20.48200803958376 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 824.0, + 364.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_7-24-48_1608959295/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_7-24-48_1608959295/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f73531d2753937807e0c2878eb80ff2beb6b214c --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_7-24-48_1608959295/pose.jsonl @@ -0,0 +1,262 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2012.0382816517467, + 2385.8532185165814, + 20.118370559412398 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2014.6363578631, + 2387.3532185165814, + 20.118370559412398 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2017.2344340744535, + 2388.8532185165814, + 20.118370559412398 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2019.8325102858068, + 2390.3532185165814, + 20.118370559412398 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2022.4305864971602, + 2391.8532185165814, + 20.118370559412398 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2025.0286627085136, + 2393.3532185165814, + 20.118370559412398 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2027.626738919867, + 2394.8532185165814, + 20.118370559412398 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2030.2248151312203, + 2396.3532185165814, + 20.118370559412398 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2032.8228913425737, + 2397.8532185165814, + 20.118370559412398 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 2035.420967553927, + 2399.3532185165814, + 20.118370559412398 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2038.0190437652805, + 2400.8532185165814, + 20.118370559412398 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2040.6171199766338, + 2402.3532185165814, + 20.118370559412398 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 2043.2151961879872, + 2403.8532185165814, + 20.118370559412398 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 2045.8132723993406, + 2405.3532185165814, + 20.118370559412398 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 2048.411348610694, + 2406.8532185165814, + 20.118370559412398 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 2051.009424822047, + 2408.3532185165814, + 20.118370559412398 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 2053.6075010334002, + 2409.8532185165814, + 20.118370559412398 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 2056.2055772447534, + 2411.3532185165814, + 20.118370559412398 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 2058.8036534561065, + 2412.8532185165814, + 20.118370559412398 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755983272 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2164.0, + 2472.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_7-25-1_1018041598/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_7-25-1_1018041598/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..67f256451282b8c2dde55a36b2f785e733f3d988 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_7-25-1_1018041598/pose.jsonl @@ -0,0 +1,236 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 745.8236948607224, + -113.58087926733305, + 26.85150397387559 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 743.2256186493692, + -112.08087926733305, + 26.85150397387559 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 740.6275424380158, + -110.58087926733305, + 26.85150397387559 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 738.0294662266624, + -109.08087926733305, + 26.85150397387559 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 735.431390015309, + -107.58087926733305, + 26.85150397387559 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 732.8333138039557, + -106.08087926733305, + 26.85150397387559 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 730.2352375926023, + -104.58087926733305, + 26.85150397387559 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 727.6371613812489, + -103.08087926733305, + 26.85150397387559 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 725.0390851698955, + -101.58087926733305, + 26.85150397387559 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 722.4410089585422, + -100.08087926733305, + 26.85150397387559 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 722.4410089585422, + -100.08087926733305, + 26.85150397387559 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 719.4410089585422, + -100.08087926733305, + 26.85150397387559 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 716.4410089585422, + -100.08087926733305, + 26.85150397387559 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 713.4410089585422, + -100.08087926733305, + 26.85150397387559 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 710.4410089585422, + -100.08087926733305, + 26.85150397387559 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 707.4410089585422, + -100.08087926733305, + 26.85150397387559 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 704.4410089585422, + -100.08087926733305, + 26.85150397387559 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 584.0, + -64.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_7-27-27_1281944976/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_7-27-27_1281944976/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0d11206707121787785b8dd096bce90c899baa80 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_7-27-27_1281944976/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4192.519423456384, + 777.0792663439364, + 15.981901690899761 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4189.921347245031, + 775.5792663439364, + 15.981901690899761 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4187.323271033678, + 774.0792663439364, + 15.981901690899761 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4184.725194822325, + 772.5792663439364, + 15.981901690899761 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4182.127118610972, + 771.0792663439364, + 15.981901690899761 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4179.529042399618, + 769.5792663439364, + 15.981901690899761 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4176.930966188265, + 768.0792663439364, + 15.981901690899761 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4174.332889976912, + 766.5792663439364, + 15.981901690899761 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4171.734813765559, + 765.0792663439364, + 15.981901690899761 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4169.136737554206, + 763.5792663439364, + 15.981901690899761 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4166.538661342853, + 762.0792663439364, + 15.981901690899761 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4163.9405851315, + 760.5792663439364, + 15.981901690899761 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4161.342508920146, + 759.0792663439364, + 15.981901690899761 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4158.744432708793, + 757.5792663439364, + 15.981901690899761 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4156.14635649744, + 756.0792663439364, + 15.981901690899761 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4153.548280286087, + 754.5792663439364, + 15.981901690899761 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 4150.950204074734, + 753.0792663439364, + 15.981901690899761 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 4148.352127863381, + 751.5792663439364, + 15.981901690899761 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 4145.754051652028, + 750.0792663439364, + 15.981901690899761 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 4143.155975440674, + 748.5792663439364, + 15.981901690899761 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 4140.557899229321, + 747.0792663439364, + 15.981901690899761 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 4137.959823017968, + 745.5792663439364, + 15.981901690899761 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 4135.361746806615, + 744.0792663439364, + 15.981901690899761 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 4132.763670595262, + 742.5792663439364, + 15.981901690899761 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 4130.165594383909, + 741.0792663439364, + 15.981901690899761 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 4127.5675181725555, + 739.5792663439364, + 15.981901690899761 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 4124.969441961202, + 738.0792663439364, + 15.981901690899761 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 4122.371365749849, + 736.5792663439364, + 15.981901690899761 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 4119.773289538496, + 735.0792663439364, + 15.981901690899761 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 4117.175213327143, + 733.5792663439364, + 15.981901690899761 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 4114.57713711579, + 732.0792663439364, + 15.981901690899761 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 4111.979060904437, + 730.5792663439364, + 15.981901690899761 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 4109.3809846930835, + 729.0792663439364, + 15.981901690899761 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 4106.78290848173, + 727.5792663439364, + 15.981901690899761 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 4104.184832270377, + 726.0792663439364, + 15.981901690899761 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 4101.586756059024, + 724.5792663439364, + 15.981901690899761 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 4101.586756059024, + 724.5792663439364, + 15.981901690899761 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535897647 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 4098.586756059024, + 724.5792663439364, + 15.981901690899761 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 4095.586756059024, + 724.5792663439364, + 15.981901690899761 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 4092.586756059024, + 724.5792663439364, + 15.981901690899761 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 4089.586756059024, + 724.5792663439364, + 15.981901690899761 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 4086.586756059024, + 724.5792663439364, + 15.981901690899761 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 4083.586756059024, + 724.5792663439364, + 15.981901690899761 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 4080.586756059024, + 724.5792663439364, + 15.981901690899761 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 4077.586756059024, + 724.5792663439364, + 15.981901690899761 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 4074.586756059024, + 724.5792663439364, + 15.981901690899761 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 4071.586756059024, + 724.5792663439364, + 15.981901690899761 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 4068.586756059024, + 724.5792663439364, + 15.981901690899761 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 4065.586756059024, + 724.5792663439364, + 15.981901690899761 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 4065.586756059024, + 724.5792663439364, + 15.981901690899761 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 4062.988679847671, + 723.0792663439364, + 15.981901690899761 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 4060.390603636318, + 721.5792663439364, + 15.981901690899761 + ], + "type": "stop", + "value": 0, + "yaw": -2.617993877991466 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4036.0, + 712.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_7-33-57_950881304/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_7-33-57_950881304/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c4b0d41e743356bbdbdd80fbeacf4e834b2f6e0a --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_7-33-57_950881304/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -569.2776267254922, + -2442.4734340092773, + 22.537996368622686 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -569.2776267254922, + -2439.4734340092773, + 22.537996368622686 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -569.2776267254922, + -2436.4734340092773, + 22.537996368622686 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -569.2776267254922, + -2433.4734340092773, + 22.537996368622686 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -569.2776267254922, + -2430.4734340092773, + 22.537996368622686 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -569.2776267254922, + -2427.4734340092773, + 22.537996368622686 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -569.2776267254922, + -2424.4734340092773, + 22.537996368622686 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -569.2776267254922, + -2421.4734340092773, + 22.537996368622686 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -569.2776267254922, + -2418.4734340092773, + 22.537996368622686 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -569.2776267254922, + -2415.4734340092773, + 22.537996368622686 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -569.2776267254922, + -2412.4734340092773, + 22.537996368622686 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -569.2776267254922, + -2409.4734340092773, + 22.537996368622686 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -569.2776267254922, + -2406.4734340092773, + 22.537996368622686 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -569.2776267254922, + -2403.4734340092773, + 22.537996368622686 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -569.2776267254922, + -2400.4734340092773, + 22.537996368622686 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -569.2776267254922, + -2397.4734340092773, + 22.537996368622686 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -569.2776267254922, + -2394.4734340092773, + 22.537996368622686 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -569.2776267254922, + -2391.4734340092773, + 22.537996368622686 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -569.2776267254922, + -2388.4734340092773, + 22.537996368622686 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -569.2776267254922, + -2385.4734340092773, + 22.537996368622686 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -569.2776267254922, + -2382.4734340092773, + 22.537996368622686 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -569.2776267254922, + -2379.4734340092773, + 22.537996368622686 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -569.2776267254922, + -2376.4734340092773, + 22.537996368622686 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -569.2776267254922, + -2373.4734340092773, + 22.537996368622686 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -569.2776267254922, + -2370.4734340092773, + 22.537996368622686 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -569.2776267254922, + -2367.4734340092773, + 22.537996368622686 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -569.2776267254922, + -2364.4734340092773, + 22.537996368622686 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -569.2776267254922, + -2361.4734340092773, + 22.537996368622686 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -569.2776267254922, + -2358.4734340092773, + 22.537996368622686 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -569.2776267254922, + -2355.4734340092773, + 22.537996368622686 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -569.2776267254922, + -2352.4734340092773, + 22.537996368622686 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -569.2776267254922, + -2349.4734340092773, + 22.537996368622686 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -569.2776267254922, + -2346.4734340092773, + 22.537996368622686 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -569.2776267254922, + -2343.4734340092773, + 22.537996368622686 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -569.2776267254922, + -2340.4734340092773, + 22.537996368622686 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -569.2776267254922, + -2337.4734340092773, + 22.537996368622686 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -569.2776267254922, + -2334.4734340092773, + 22.537996368622686 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -569.2776267254922, + -2334.4734340092773, + 22.537996368622686 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -570.7776267254922, + -2331.875357797924, + 22.537996368622686 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -572.2776267254922, + -2329.277281586571, + 22.537996368622686 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -573.7776267254922, + -2326.679205375218, + 22.537996368622686 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -575.2776267254922, + -2324.0811291638647, + 22.537996368622686 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -576.7776267254922, + -2321.4830529525116, + 22.537996368622686 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -578.2776267254922, + -2318.8849767411584, + 22.537996368622686 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -579.7776267254922, + -2316.2869005298053, + 22.537996368622686 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -581.2776267254922, + -2313.688824318452, + 22.537996368622686 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -582.7776267254922, + -2311.090748107099, + 22.537996368622686 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -584.2776267254922, + -2308.492671895746, + 22.537996368622686 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -585.7776267254922, + -2305.8945956843927, + 22.537996368622686 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -587.2776267254922, + -2303.2965194730396, + 22.537996368622686 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023932237 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -592.0, + -2264.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_7-5-45_943190495/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_7-5-45_943190495/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5395c6b8752fa0d2c6a98d8ca0dfb1b70de4d00d --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_7-5-45_943190495/pose.jsonl @@ -0,0 +1,899 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2822.668637162017, + -2176.0343473975586, + 24.127312628738984 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2824.168637162017, + -2178.6324236089117, + 24.127312628738984 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2825.668637162017, + -2181.230499820265, + 24.127312628738984 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2827.168637162017, + -2183.828576031618, + 24.127312628738984 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2828.668637162017, + -2186.426652242971, + 24.127312628738984 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2830.168637162017, + -2189.0247284543243, + 24.127312628738984 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2831.668637162017, + -2191.6228046656774, + 24.127312628738984 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2833.168637162017, + -2194.2208808770306, + 24.127312628738984 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2834.668637162017, + -2196.8189570883837, + 24.127312628738984 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2836.168637162017, + -2199.417033299737, + 24.127312628738984 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2837.668637162017, + -2202.01510951109, + 24.127312628738984 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2839.168637162017, + -2204.613185722443, + 24.127312628738984 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2840.668637162017, + -2207.2112619337963, + 24.127312628738984 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2842.168637162017, + -2209.8093381451495, + 24.127312628738984 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2843.668637162017, + -2212.4074143565026, + 24.127312628738984 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2845.168637162017, + -2215.0054905678558, + 24.127312628738984 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2846.668637162017, + -2217.603566779209, + 24.127312628738984 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2848.168637162017, + -2220.201642990562, + 24.127312628738984 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2849.668637162017, + -2222.799719201915, + 24.127312628738984 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2851.168637162017, + -2225.3977954132683, + 24.127312628738984 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2851.168637162017, + -2225.3977954132683, + 24.127312628738984 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915224 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2851.168637162017, + -2225.3977954132683, + 24.127312628738984 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898215 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2854.168637162017, + -2225.3977954132683, + 24.127312628738984 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2857.168637162017, + -2225.3977954132683, + 24.127312628738984 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2857.168637162017, + -2225.3977954132683, + 24.127312628738984 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2859.7667133733703, + -2226.8977954132683, + 24.127312628738984 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2862.3647895847234, + -2228.3977954132683, + 24.127312628738984 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2864.9628657960766, + -2229.8977954132683, + 24.127312628738984 + ], + "type": "turn left", + "value": 30, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2864.9628657960766, + -2229.8977954132683, + 24.127312628738984 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931673 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2864.9628657960766, + -2229.8977954132683, + 24.127312628738984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948684 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2864.9628657960766, + -2232.8977954132683, + 24.127312628738984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2864.9628657960766, + -2235.8977954132683, + 24.127312628738984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2864.9628657960766, + -2238.8977954132683, + 24.127312628738984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2864.9628657960766, + -2241.8977954132683, + 24.127312628738984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2864.9628657960766, + -2244.8977954132683, + 24.127312628738984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -2864.9628657960766, + -2247.8977954132683, + 24.127312628738984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -2864.9628657960766, + -2250.8977954132683, + 24.127312628738984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -2864.9628657960766, + -2253.8977954132683, + 24.127312628738984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -2864.9628657960766, + -2256.8977954132683, + 24.127312628738984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -2864.9628657960766, + -2259.8977954132683, + 24.127312628738984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -2864.9628657960766, + -2262.8977954132683, + 24.127312628738984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -2864.9628657960766, + -2265.8977954132683, + 24.127312628738984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -2864.9628657960766, + -2268.8977954132683, + 24.127312628738984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -2864.9628657960766, + -2271.8977954132683, + 24.127312628738984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -2864.9628657960766, + -2274.8977954132683, + 24.127312628738984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -2864.9628657960766, + -2277.8977954132683, + 24.127312628738984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -2864.9628657960766, + -2280.8977954132683, + 24.127312628738984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -2864.9628657960766, + -2283.8977954132683, + 24.127312628738984 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -2864.9628657960766, + -2283.8977954132683, + 24.127312628738984 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -2864.9628657960766, + -2283.8977954132683, + 24.127312628738984 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -2862.3647895847234, + -2285.3977954132683, + 24.127312628738984 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -2859.7667133733703, + -2286.8977954132683, + 24.127312628738984 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -2857.168637162017, + -2288.3977954132683, + 24.127312628738984 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -2857.168637162017, + -2288.3977954132683, + 24.127312628738984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196626 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -2855.668637162017, + -2290.9958716246215, + 24.127312628738984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -2854.168637162017, + -2293.5939478359746, + 24.127312628738984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -2852.668637162017, + -2296.192024047328, + 24.127312628738984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -2851.168637162017, + -2298.790100258681, + 24.127312628738984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -2849.668637162017, + -2301.388176470034, + 24.127312628738984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -2848.168637162017, + -2303.986252681387, + 24.127312628738984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -2846.668637162017, + -2306.5843288927404, + 24.127312628738984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -2845.168637162017, + -2309.1824051040935, + 24.127312628738984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -2843.668637162017, + -2311.7804813154467, + 24.127312628738984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -2842.168637162017, + -2314.3785575268, + 24.127312628738984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -2840.668637162017, + -2316.976633738153, + 24.127312628738984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -2839.168637162017, + -2319.574709949506, + 24.127312628738984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -2837.668637162017, + -2322.1727861608592, + 24.127312628738984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -2836.168637162017, + -2324.7708623722124, + 24.127312628738984 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965694 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2836.0, + -2336.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_7-50-39_700287639/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_7-50-39_700287639/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..11892fbddeeca8b03089a071f74d4df816ffefea --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_7-50-39_700287639/pose.jsonl @@ -0,0 +1,418 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2160.501199647233, + 1511.0054161728465, + 17.552502641092865 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2163.501199647233, + 1511.0054161728465, + 17.552502641092865 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2166.501199647233, + 1511.0054161728465, + 17.552502641092865 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2169.501199647233, + 1511.0054161728465, + 17.552502641092865 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2172.501199647233, + 1511.0054161728465, + 17.552502641092865 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2175.501199647233, + 1511.0054161728465, + 17.552502641092865 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2178.501199647233, + 1511.0054161728465, + 17.552502641092865 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2181.501199647233, + 1511.0054161728465, + 17.552502641092865 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2184.501199647233, + 1511.0054161728465, + 17.552502641092865 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2187.501199647233, + 1511.0054161728465, + 17.552502641092865 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2190.501199647233, + 1511.0054161728465, + 17.552502641092865 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2193.501199647233, + 1511.0054161728465, + 17.552502641092865 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2196.501199647233, + 1511.0054161728465, + 17.552502641092865 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2199.501199647233, + 1511.0054161728465, + 17.552502641092865 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2202.501199647233, + 1511.0054161728465, + 17.552502641092865 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2205.501199647233, + 1511.0054161728465, + 17.552502641092865 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2208.501199647233, + 1511.0054161728465, + 17.552502641092865 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2211.501199647233, + 1511.0054161728465, + 17.552502641092865 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2211.501199647233, + 1511.0054161728465, + 17.552502641092865 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2214.099275858586, + 1512.5054161728465, + 17.552502641092865 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2216.6973520699394, + 1514.0054161728465, + 17.552502641092865 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2219.2954282812925, + 1515.5054161728465, + 17.552502641092865 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2221.8935044926457, + 1517.0054161728465, + 17.552502641092865 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2224.491580703999, + 1518.5054161728465, + 17.552502641092865 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2227.089656915352, + 1520.0054161728465, + 17.552502641092865 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2229.687733126705, + 1521.5054161728465, + 17.552502641092865 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2232.2858093380582, + 1523.0054161728465, + 17.552502641092865 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2234.8838855494114, + 1524.5054161728465, + 17.552502641092865 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2237.4819617607645, + 1526.0054161728465, + 17.552502641092865 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2240.0800379721177, + 1527.5054161728465, + 17.552502641092865 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2242.678114183471, + 1529.0054161728465, + 17.552502641092865 + ], + "type": "stop", + "value": 0, + "yaw": 2.617993877991466 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2312.0, + 1544.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_8-12-32_1308202906/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_8-12-32_1308202906/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8258a710e827898cc345d4e2a11e3fc458908926 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_8-12-32_1308202906/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -884.5689754393246, + -1258.1232164789342, + 35.54804323811943 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -887.1670516506779, + -1259.6232164789342, + 35.54804323811943 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -889.7651278620312, + -1261.1232164789342, + 35.54804323811943 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -892.3632040733846, + -1262.6232164789342, + 35.54804323811943 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -894.961280284738, + -1264.1232164789342, + 35.54804323811943 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -897.5593564960914, + -1265.6232164789342, + 35.54804323811943 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -900.1574327074447, + -1267.1232164789342, + 35.54804323811943 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -902.7555089187981, + -1268.6232164789342, + 35.54804323811943 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -905.3535851301515, + -1270.1232164789342, + 35.54804323811943 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -907.9516613415049, + -1271.6232164789342, + 35.54804323811943 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -910.5497375528582, + -1273.1232164789342, + 35.54804323811943 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -913.1478137642116, + -1274.6232164789342, + 35.54804323811943 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -915.745889975565, + -1276.1232164789342, + 35.54804323811943 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -918.3439661869184, + -1277.6232164789342, + 35.54804323811943 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -920.9420423982717, + -1279.1232164789342, + 35.54804323811943 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -923.5401186096251, + -1280.6232164789342, + 35.54804323811943 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -926.1381948209785, + -1282.1232164789342, + 35.54804323811943 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -928.7362710323318, + -1283.6232164789342, + 35.54804323811943 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -931.3343472436852, + -1285.1232164789342, + 35.54804323811943 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -933.9324234550386, + -1286.6232164789342, + 35.54804323811943 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -936.530499666392, + -1288.1232164789342, + 35.54804323811943 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -939.1285758777453, + -1289.6232164789342, + 35.54804323811943 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -941.7266520890987, + -1291.1232164789342, + 35.54804323811943 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -944.3247283004521, + -1292.6232164789342, + 35.54804323811943 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -946.9228045118055, + -1294.1232164789342, + 35.54804323811943 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -949.5208807231588, + -1295.6232164789342, + 35.54804323811943 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -952.1189569345122, + -1297.1232164789342, + 35.54804323811943 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -954.7170331458656, + -1298.6232164789342, + 35.54804323811943 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -957.315109357219, + -1300.1232164789342, + 35.54804323811943 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -959.9131855685723, + -1301.6232164789342, + 35.54804323811943 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -962.5112617799257, + -1303.1232164789342, + 35.54804323811943 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -965.1093379912791, + -1304.6232164789342, + 35.54804323811943 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -967.7074142026324, + -1306.1232164789342, + 35.54804323811943 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -970.3054904139858, + -1307.6232164789342, + 35.54804323811943 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -972.9035666253392, + -1309.1232164789342, + 35.54804323811943 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -972.9035666253392, + -1309.1232164789342, + 35.54804323811943 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -974.4035666253392, + -1311.7212926902876, + 35.54804323811943 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -975.9035666253392, + -1314.319368901641, + 35.54804323811943 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -977.4035666253392, + -1316.9174451129943, + 35.54804323811943 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -978.9035666253392, + -1319.5155213243477, + 35.54804323811943 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -980.4035666253392, + -1322.113597535701, + 35.54804323811943 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -981.9035666253392, + -1324.7116737470544, + 35.54804323811943 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -981.9035666253392, + -1324.7116737470544, + 35.54804323811943 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -984.5016428366926, + -1326.2116737470544, + 35.54804323811943 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -987.0997190480459, + -1327.7116737470544, + 35.54804323811943 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -989.6977952593993, + -1329.2116737470544, + 35.54804323811943 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -992.2958714707527, + -1330.7116737470544, + 35.54804323811943 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1024.0, + -1352.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_8-15-18_1591564428/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_8-15-18_1591564428/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..75eccc9eb4f027fa8f9465a89d722d6caa05d39a --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_8-15-18_1591564428/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1236.5135148015058, + -618.178540616092, + 26.999488529559386 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1238.0135148015058, + -615.5804644047387, + 26.999488529559386 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1239.5135148015058, + -612.9823881933853, + 26.999488529559386 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1241.0135148015058, + -610.3843119820319, + 26.999488529559386 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1242.5135148015058, + -607.7862357706786, + 26.999488529559386 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1244.0135148015058, + -605.1881595593252, + 26.999488529559386 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1245.5135148015058, + -602.5900833479718, + 26.999488529559386 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1247.0135148015058, + -599.9920071366184, + 26.999488529559386 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1248.5135148015058, + -597.3939309252651, + 26.999488529559386 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1250.0135148015058, + -594.7958547139117, + 26.999488529559386 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1251.5135148015058, + -592.1977785025583, + 26.999488529559386 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1253.0135148015058, + -589.599702291205, + 26.999488529559386 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1254.5135148015058, + -587.0016260798516, + 26.999488529559386 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1256.0135148015058, + -584.4035498684982, + 26.999488529559386 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1257.5135148015058, + -581.8054736571448, + 26.999488529559386 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1259.0135148015058, + -579.2073974457915, + 26.999488529559386 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1260.5135148015058, + -576.6093212344381, + 26.999488529559386 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1262.0135148015058, + -574.0112450230847, + 26.999488529559386 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1263.5135148015058, + -571.4131688117313, + 26.999488529559386 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1265.0135148015058, + -568.815092600378, + 26.999488529559386 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1266.5135148015058, + -566.2170163890246, + 26.999488529559386 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1268.0135148015058, + -563.6189401776712, + 26.999488529559386 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1269.5135148015058, + -561.0208639663178, + 26.999488529559386 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1271.0135148015058, + -558.4227877549645, + 26.999488529559386 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1272.5135148015058, + -555.8247115436111, + 26.999488529559386 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1274.0135148015058, + -553.2266353322577, + 26.999488529559386 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1275.5135148015058, + -550.6285591209044, + 26.999488529559386 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1277.0135148015058, + -548.030482909551, + 26.999488529559386 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1278.5135148015058, + -545.4324066981976, + 26.999488529559386 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1280.0135148015058, + -542.8343304868442, + 26.999488529559386 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1281.5135148015058, + -540.2362542754909, + 26.999488529559386 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1283.0135148015058, + -537.6381780641375, + 26.999488529559386 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1284.5135148015058, + -535.0401018527841, + 26.999488529559386 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1286.0135148015058, + -532.4420256414307, + 26.999488529559386 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1287.5135148015058, + -529.8439494300774, + 26.999488529559386 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1289.0135148015058, + -527.245873218724, + 26.999488529559386 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1290.5135148015058, + -524.6477970073706, + 26.999488529559386 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1292.0135148015058, + -522.0497207960173, + 26.999488529559386 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1293.5135148015058, + -519.4516445846639, + 26.999488529559386 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1295.0135148015058, + -516.8535683733105, + 26.999488529559386 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1296.5135148015058, + -514.2554921619571, + 26.999488529559386 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1298.0135148015058, + -511.6574159506038, + 26.999488529559386 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1299.5135148015058, + -509.0593397392505, + 26.999488529559386 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1301.0135148015058, + -506.4612635278972, + 26.999488529559386 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1302.5135148015058, + -503.8631873165439, + 26.999488529559386 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1304.0135148015058, + -501.26511110519056, + 26.999488529559386 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1305.5135148015058, + -498.66703489383724, + 26.999488529559386 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1307.0135148015058, + -496.0689586824839, + 26.999488529559386 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1308.5135148015058, + -493.4708824711306, + 26.999488529559386 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1316.0, + -476.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_8-21-9_1773595097/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_8-21-9_1773595097/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e52680f7be09007a5d2de615b83686f992409b03 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_8-21-9_1773595097/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1098.0704475613165, + 1148.286643530332, + 32.47680573291071 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1099.5704475613165, + 1150.8847197416853, + 32.47680573291071 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1101.0704475613165, + 1153.4827959530387, + 32.47680573291071 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1102.5704475613165, + 1156.080872164392, + 32.47680573291071 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1104.0704475613165, + 1158.6789483757454, + 32.47680573291071 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1105.5704475613165, + 1161.2770245870988, + 32.47680573291071 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1107.0704475613165, + 1163.8751007984522, + 32.47680573291071 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1108.5704475613165, + 1166.4731770098056, + 32.47680573291071 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1110.0704475613165, + 1169.071253221159, + 32.47680573291071 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1111.5704475613165, + 1171.6693294325123, + 32.47680573291071 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1113.0704475613165, + 1174.2674056438657, + 32.47680573291071 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1114.5704475613165, + 1176.865481855219, + 32.47680573291071 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1116.0704475613165, + 1179.4635580665724, + 32.47680573291071 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1117.5704475613165, + 1182.0616342779258, + 32.47680573291071 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1119.0704475613165, + 1184.6597104892792, + 32.47680573291071 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1120.5704475613165, + 1187.2577867006326, + 32.47680573291071 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1122.0704475613165, + 1189.855862911986, + 32.47680573291071 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1123.5704475613165, + 1192.4539391233393, + 32.47680573291071 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1125.0704475613165, + 1195.0520153346927, + 32.47680573291071 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1126.5704475613165, + 1197.650091546046, + 32.47680573291071 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1128.0704475613165, + 1200.2481677573994, + 32.47680573291071 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1129.5704475613165, + 1202.8462439687528, + 32.47680573291071 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1131.0704475613165, + 1205.4443201801062, + 32.47680573291071 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1132.5704475613165, + 1208.0423963914595, + 32.47680573291071 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1134.0704475613165, + 1210.640472602813, + 32.47680573291071 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1135.5704475613165, + 1213.2385488141663, + 32.47680573291071 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1137.0704475613165, + 1215.8366250255197, + 32.47680573291071 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1138.5704475613165, + 1218.434701236873, + 32.47680573291071 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1140.0704475613165, + 1221.0327774482264, + 32.47680573291071 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1141.5704475613165, + 1223.6308536595798, + 32.47680573291071 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1143.0704475613165, + 1226.2289298709331, + 32.47680573291071 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1144.5704475613165, + 1228.8270060822865, + 32.47680573291071 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1146.0704475613165, + 1231.42508229364, + 32.47680573291071 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1147.5704475613165, + 1234.0231585049933, + 32.47680573291071 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1149.0704475613165, + 1236.6212347163466, + 32.47680573291071 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1149.0704475613165, + 1236.6212347163466, + 32.47680573291071 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1151.66852377267, + 1238.1212347163466, + 32.47680573291071 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1154.2665999840233, + 1239.6212347163466, + 32.47680573291071 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1156.8646761953767, + 1241.1212347163466, + 32.47680573291071 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1159.46275240673, + 1242.6212347163466, + 32.47680573291071 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1162.0608286180834, + 1244.1212347163466, + 32.47680573291071 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1164.6589048294368, + 1245.6212347163466, + 32.47680573291071 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1167.2569810407902, + 1247.1212347163466, + 32.47680573291071 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1169.8550572521435, + 1248.6212347163466, + 32.47680573291071 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1172.453133463497, + 1250.1212347163466, + 32.47680573291071 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1175.0512096748503, + 1251.6212347163466, + 32.47680573291071 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1175.0512096748503, + 1251.6212347163466, + 32.47680573291071 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1176.5512096748503, + 1254.2193109277, + 32.47680573291071 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1176.5512096748503, + 1254.2193109277, + 32.47680573291071 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1179.1492858862036, + 1255.7193109277, + 32.47680573291071 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1181.747362097557, + 1257.2193109277, + 32.47680573291071 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1196.0, + 1276.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_8-22-31_1659373349/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_8-22-31_1659373349/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..24fbb0c9d9ce9950bf99dac6d321281200aff01b --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_8-22-31_1659373349/pose.jsonl @@ -0,0 +1,171 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3511.2352061415436, + -2982.7074409494835, + 28.18376636660129 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3508.6371299301904, + -2984.2074409494835, + 28.18376636660129 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3506.0390537188373, + -2985.7074409494835, + 28.18376636660129 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3503.440977507484, + -2987.2074409494835, + 28.18376636660129 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3500.842901296131, + -2988.7074409494835, + 28.18376636660129 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3498.244825084778, + -2990.2074409494835, + 28.18376636660129 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3495.6467488734247, + -2991.7074409494835, + 28.18376636660129 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3493.0486726620716, + -2993.2074409494835, + 28.18376636660129 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 3490.4505964507184, + -2994.7074409494835, + 28.18376636660129 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 3487.8525202393653, + -2996.2074409494835, + 28.18376636660129 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 3485.254444028012, + -2997.7074409494835, + 28.18376636660129 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 3482.656367816659, + -2999.2074409494835, + 28.18376636660129 + ], + "type": "stop", + "value": 0, + "yaw": -2.617993877991466 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3384.0, + -3064.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_8-24-51_808808585/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_8-24-51_808808585/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..88f286b426978e4b994107419e0d52e8caff318d --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_8-24-51_808808585/pose.jsonl @@ -0,0 +1,327 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 726.5360613917462, + 46.90132810352789, + 24.200387157662153 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 723.5360613917462, + 46.90132810352789, + 24.200387157662153 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 720.5360613917462, + 46.90132810352789, + 24.200387157662153 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 717.5360613917462, + 46.90132810352789, + 24.200387157662153 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 714.5360613917462, + 46.90132810352789, + 24.200387157662153 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 711.5360613917462, + 46.90132810352789, + 24.200387157662153 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 708.5360613917462, + 46.90132810352789, + 24.200387157662153 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 705.5360613917462, + 46.90132810352789, + 24.200387157662153 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 702.5360613917462, + 46.90132810352789, + 24.200387157662153 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 699.5360613917462, + 46.90132810352789, + 24.200387157662153 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 696.5360613917462, + 46.90132810352789, + 24.200387157662153 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 693.5360613917462, + 46.90132810352789, + 24.200387157662153 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 693.5360613917462, + 46.90132810352789, + 24.200387157662153 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 690.9379851803928, + 48.40132810352789, + 24.200387157662153 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 688.3399089690395, + 49.90132810352789, + 24.200387157662153 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 685.7418327576861, + 51.40132810352789, + 24.200387157662153 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 683.1437565463327, + 52.90132810352789, + 24.200387157662153 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 680.5456803349794, + 54.40132810352789, + 24.200387157662153 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 677.947604123626, + 55.90132810352789, + 24.200387157662153 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 675.3495279122726, + 57.40132810352789, + 24.200387157662153 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 672.7514517009192, + 58.90132810352789, + 24.200387157662153 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 670.1533754895659, + 60.40132810352789, + 24.200387157662153 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 670.1533754895659, + 60.40132810352789, + 24.200387157662153 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 667.1533754895659, + 60.40132810352789, + 24.200387157662153 + ], + "type": "stop", + "value": 0, + "yaw": 3.1415926535898024 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 564.0, + 84.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_8-34-2_1750829613/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_8-34-2_1750829613/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5db205bd4e6fc74abc8907b886f601fb5b28399a --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_8-34-2_1750829613/pose.jsonl @@ -0,0 +1,54 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2993.02711764858, + 35.08306966578365, + 15.461743219505577 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2996.02711764858, + 35.08306966578365, + 15.461743219505577 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2999.02711764858, + 35.08306966578365, + 15.461743219505577 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -3172.0, + 48.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_8-36-4_1408960629/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_8-36-4_1408960629/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..da0b07a4ad14eb105c89b23704386a29539de405 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_8-36-4_1408960629/pose.jsonl @@ -0,0 +1,509 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4923.081432511781, + 1932.7358464075553, + 38.808789654733665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4920.483356300428, + 1931.2358464075553, + 38.808789654733665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4917.8852800890745, + 1929.7358464075553, + 38.808789654733665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4915.287203877721, + 1928.2358464075553, + 38.808789654733665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4912.689127666368, + 1926.7358464075553, + 38.808789654733665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4910.091051455015, + 1925.2358464075553, + 38.808789654733665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4907.492975243662, + 1923.7358464075553, + 38.808789654733665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4904.894899032309, + 1922.2358464075553, + 38.808789654733665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4902.296822820956, + 1920.7358464075553, + 38.808789654733665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4899.6987466096025, + 1919.2358464075553, + 38.808789654733665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4897.100670398249, + 1917.7358464075553, + 38.808789654733665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4894.502594186896, + 1916.2358464075553, + 38.808789654733665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4891.904517975543, + 1914.7358464075553, + 38.808789654733665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4889.30644176419, + 1913.2358464075553, + 38.808789654733665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4886.708365552837, + 1911.7358464075553, + 38.808789654733665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4884.110289341484, + 1910.2358464075553, + 38.808789654733665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 4881.5122131301305, + 1908.7358464075553, + 38.808789654733665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 4878.914136918777, + 1907.2358464075553, + 38.808789654733665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 4876.316060707424, + 1905.7358464075553, + 38.808789654733665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 4873.717984496071, + 1904.2358464075553, + 38.808789654733665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 4871.119908284718, + 1902.7358464075553, + 38.808789654733665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 4868.521832073365, + 1901.2358464075553, + 38.808789654733665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 4865.923755862012, + 1899.7358464075553, + 38.808789654733665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 4863.3256796506585, + 1898.2358464075553, + 38.808789654733665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 4860.727603439305, + 1896.7358464075553, + 38.808789654733665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 4858.129527227952, + 1895.2358464075553, + 38.808789654733665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 4855.531451016599, + 1893.7358464075553, + 38.808789654733665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 4852.933374805246, + 1892.2358464075553, + 38.808789654733665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 4850.335298593893, + 1890.7358464075553, + 38.808789654733665 + ], + "type": "turn left", + "value": 30, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 4850.335298593893, + 1890.7358464075553, + 38.808789654733665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931673 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 4848.835298593893, + 1888.137770196202, + 38.808789654733665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 4847.335298593893, + 1885.5396939848486, + 38.808789654733665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 4845.835298593893, + 1882.9416177734952, + 38.808789654733665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 4844.335298593893, + 1880.3435415621418, + 38.808789654733665 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 4842.835298593893, + 1877.7454653507884, + 38.808789654733665 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 4842.835298593893, + 1877.7454653507884, + 38.808789654733665 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 4842.835298593893, + 1877.7454653507884, + 38.808789654733665 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535897833 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 4839.835298593893, + 1877.7454653507884, + 38.808789654733665 + ], + "type": "stop", + "value": 0, + "yaw": -3.1415926535897833 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4788.0, + 1844.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_8-38-48_989230775/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_8-38-48_989230775/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dae434a3fa8dcc0da50d54ad3ae10d309273f11d --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_8-38-48_989230775/pose.jsonl @@ -0,0 +1,327 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 913.9195377164938, + 280.6086180430675, + 18.668226616922354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 911.3214615051404, + 279.1086180430675, + 18.668226616922354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 908.723385293787, + 277.6086180430675, + 18.668226616922354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 906.1253090824337, + 276.1086180430675, + 18.668226616922354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 903.5272328710803, + 274.6086180430675, + 18.668226616922354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 900.9291566597269, + 273.1086180430675, + 18.668226616922354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 898.3310804483735, + 271.6086180430675, + 18.668226616922354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 895.7330042370202, + 270.1086180430675, + 18.668226616922354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 893.1349280256668, + 268.6086180430675, + 18.668226616922354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 890.5368518143134, + 267.1086180430675, + 18.668226616922354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 887.93877560296, + 265.6086180430675, + 18.668226616922354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 885.3406993916067, + 264.1086180430675, + 18.668226616922354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 882.7426231802533, + 262.6086180430675, + 18.668226616922354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 880.1445469688999, + 261.1086180430675, + 18.668226616922354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 877.5464707575466, + 259.6086180430675, + 18.668226616922354 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 877.5464707575466, + 259.6086180430675, + 18.668226616922354 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 874.5464707575466, + 259.6086180430675, + 18.668226616922354 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 871.5464707575466, + 259.6086180430675, + 18.668226616922354 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 868.5464707575466, + 259.6086180430675, + 18.668226616922354 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 865.5464707575466, + 259.6086180430675, + 18.668226616922354 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 862.5464707575466, + 259.6086180430675, + 18.668226616922354 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 859.5464707575466, + 259.6086180430675, + 18.668226616922354 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 856.5464707575466, + 259.6086180430675, + 18.668226616922354 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 853.5464707575466, + 259.6086180430675, + 18.668226616922354 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 748.0, + 220.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_8-43-11_578187134/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_8-43-11_578187134/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b6b9f123e9056734885ea674a325ac79f6aecfb5 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_8-43-11_578187134/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 161.91568446623586, + -2418.7476057606746, + 35.017374897424105 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 164.91568446623586, + -2418.7476057606746, + 35.017374897424105 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 167.91568446623586, + -2418.7476057606746, + 35.017374897424105 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 170.91568446623586, + -2418.7476057606746, + 35.017374897424105 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 173.91568446623586, + -2418.7476057606746, + 35.017374897424105 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 176.91568446623586, + -2418.7476057606746, + 35.017374897424105 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 179.91568446623586, + -2418.7476057606746, + 35.017374897424105 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 182.91568446623586, + -2418.7476057606746, + 35.017374897424105 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 185.91568446623586, + -2418.7476057606746, + 35.017374897424105 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 188.91568446623586, + -2418.7476057606746, + 35.017374897424105 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 191.91568446623586, + -2418.7476057606746, + 35.017374897424105 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 194.91568446623586, + -2418.7476057606746, + 35.017374897424105 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 194.91568446623586, + -2418.7476057606746, + 35.017374897424105 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 197.51376067758918, + -2417.2476057606746, + 35.017374897424105 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 200.1118368889425, + -2415.7476057606746, + 35.017374897424105 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 202.7099131002958, + -2414.2476057606746, + 35.017374897424105 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 205.30798931164912, + -2412.7476057606746, + 35.017374897424105 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 205.30798931164912, + -2412.7476057606746, + 35.017374897424105 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 206.80798931164912, + -2410.1495295493214, + 35.017374897424105 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 208.30798931164912, + -2407.5514533379683, + 35.017374897424105 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 209.80798931164912, + -2404.953377126615, + 35.017374897424105 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 211.30798931164912, + -2402.355300915262, + 35.017374897424105 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 212.80798931164912, + -2399.757224703909, + 35.017374897424105 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 214.30798931164912, + -2397.1591484925557, + 35.017374897424105 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 215.80798931164912, + -2394.5610722812025, + 35.017374897424105 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 217.30798931164912, + -2391.9629960698494, + 35.017374897424105 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 218.80798931164912, + -2389.3649198584963, + 35.017374897424105 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 218.80798931164912, + -2389.3649198584963, + 35.017374897424105 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948681 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 218.80798931164912, + -2386.3649198584963, + 35.017374897424105 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 218.80798931164912, + -2383.3649198584963, + 35.017374897424105 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 218.80798931164912, + -2380.3649198584963, + 35.017374897424105 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 218.80798931164912, + -2377.3649198584963, + 35.017374897424105 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 218.80798931164912, + -2374.3649198584963, + 35.017374897424105 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 218.80798931164912, + -2371.3649198584963, + 35.017374897424105 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 218.80798931164912, + -2368.3649198584963, + 35.017374897424105 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 218.80798931164912, + -2365.3649198584963, + 35.017374897424105 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 218.80798931164912, + -2362.3649198584963, + 35.017374897424105 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 218.80798931164912, + -2359.3649198584963, + 35.017374897424105 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 218.80798931164912, + -2356.3649198584963, + 35.017374897424105 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 218.80798931164912, + -2353.3649198584963, + 35.017374897424105 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 218.80798931164912, + -2350.3649198584963, + 35.017374897424105 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 218.80798931164912, + -2347.3649198584963, + 35.017374897424105 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 218.80798931164912, + -2344.3649198584963, + 35.017374897424105 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 218.80798931164912, + -2341.3649198584963, + 35.017374897424105 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 218.80798931164912, + -2338.3649198584963, + 35.017374897424105 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 218.80798931164912, + -2335.3649198584963, + 35.017374897424105 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 218.80798931164912, + -2332.3649198584963, + 35.017374897424105 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 218.80798931164912, + -2332.3649198584963, + 35.017374897424105 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 218.80798931164912, + -2332.3649198584963, + 35.017374897424105 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 221.40606552300244, + -2330.8649198584963, + 35.017374897424105 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 224.00414173435576, + -2329.3649198584963, + 35.017374897424105 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 226.60221794570907, + -2327.8649198584963, + 35.017374897424105 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 229.2002941570624, + -2326.3649198584963, + 35.017374897424105 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 256.0, + -2288.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_8-47-30_1597848432/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_8-47-30_1597848432/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f5d34ea3868135f230a216f2f5d9a82d0210e623 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_8-47-30_1597848432/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1205.4517810983689, + -409.99669964511224, + 36.92613854120572 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1203.9517810983689, + -412.59477585646556, + 36.92613854120572 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1202.4517810983689, + -415.1928520678189, + 36.92613854120572 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1200.9517810983689, + -417.7909282791722, + 36.92613854120572 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1199.4517810983689, + -420.3890044905255, + 36.92613854120572 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1197.9517810983689, + -422.9870807018788, + 36.92613854120572 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1196.4517810983689, + -425.58515691323214, + 36.92613854120572 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1194.9517810983689, + -428.18323312458546, + 36.92613854120572 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1193.4517810983689, + -430.7813093359388, + 36.92613854120572 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1191.9517810983689, + -433.3793855472921, + 36.92613854120572 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1190.4517810983689, + -435.9774617586454, + 36.92613854120572 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1188.9517810983689, + -438.5755379699987, + 36.92613854120572 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1187.4517810983689, + -441.17361418135204, + 36.92613854120572 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1185.9517810983689, + -443.77169039270535, + 36.92613854120572 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1184.4517810983689, + -446.36976660405867, + 36.92613854120572 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1182.9517810983689, + -448.967842815412, + 36.92613854120572 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1181.4517810983689, + -451.5659190267653, + 36.92613854120572 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1179.9517810983689, + -454.1639952381186, + 36.92613854120572 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1178.4517810983689, + -456.76207144947193, + 36.92613854120572 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1176.9517810983689, + -459.36014766082525, + 36.92613854120572 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1175.4517810983689, + -461.95822387217856, + 36.92613854120572 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1173.9517810983689, + -464.5563000835319, + 36.92613854120572 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1172.4517810983689, + -467.1543762948852, + 36.92613854120572 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1170.9517810983689, + -469.7524525062385, + 36.92613854120572 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1169.4517810983689, + -472.3505287175918, + 36.92613854120572 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1167.9517810983689, + -474.94860492894514, + 36.92613854120572 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1166.4517810983689, + -477.54668114029846, + 36.92613854120572 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1164.9517810983689, + -480.1447573516518, + 36.92613854120572 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1163.4517810983689, + -482.7428335630051, + 36.92613854120572 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1161.9517810983689, + -485.3409097743584, + 36.92613854120572 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1160.4517810983689, + -487.9389859857117, + 36.92613854120572 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1158.9517810983689, + -490.53706219706504, + 36.92613854120572 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1157.4517810983689, + -493.13513840841836, + 36.92613854120572 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1155.9517810983689, + -495.7332146197717, + 36.92613854120572 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1154.4517810983689, + -498.331290831125, + 36.92613854120572 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1152.9517810983689, + -500.9293670424783, + 36.92613854120572 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1151.4517810983689, + -503.5274432538316, + 36.92613854120572 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1149.9517810983689, + -506.12551946518494, + 36.92613854120572 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1148.4517810983689, + -508.72359567653825, + 36.92613854120572 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1146.9517810983689, + -511.32167188789157, + 36.92613854120572 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1145.4517810983689, + -513.9197480992449, + 36.92613854120572 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1143.9517810983689, + -516.5178243105981, + 36.92613854120572 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1143.9517810983689, + -516.5178243105981, + 36.92613854120572 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1141.3537048870155, + -518.0178243105981, + 36.92613854120572 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1138.7556286756621, + -519.5178243105981, + 36.92613854120572 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1136.1575524643088, + -521.0178243105981, + 36.92613854120572 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1133.5594762529554, + -522.5178243105981, + 36.92613854120572 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1130.961400041602, + -524.0178243105981, + 36.92613854120572 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1128.3633238302486, + -525.5178243105981, + 36.92613854120572 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1125.7652476188953, + -527.0178243105981, + 36.92613854120572 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1125.7652476188953, + -527.0178243105981, + 36.92613854120572 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1124.2652476188953, + -529.6159005219515, + 36.92613854120572 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393205 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1116.0, + -544.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_8-58-38_575705360/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_8-58-38_575705360/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..82374a90833f254f75d4320bc6313bfd50d1f099 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_8-58-38_575705360/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -897.4370246764277, + -105.19103455636784, + 18.921194014724406 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -900.035100887781, + -103.69103455636784, + 18.921194014724406 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -902.6331770991344, + -102.19103455636784, + 18.921194014724406 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -905.2312533104878, + -100.69103455636784, + 18.921194014724406 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -907.8293295218411, + -99.19103455636784, + 18.921194014724406 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -910.4274057331945, + -97.69103455636784, + 18.921194014724406 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -913.0254819445479, + -96.19103455636784, + 18.921194014724406 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -913.0254819445479, + -96.19103455636784, + 18.921194014724406 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -914.5254819445479, + -93.59295834501452, + 18.921194014724406 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -916.0254819445479, + -90.9948821336612, + 18.921194014724406 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -917.5254819445479, + -88.39680592230789, + 18.921194014724406 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -919.0254819445479, + -85.79872971095458, + 18.921194014724406 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -920.5254819445479, + -83.20065349960126, + 18.921194014724406 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -922.0254819445479, + -80.60257728824794, + 18.921194014724406 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -922.0254819445479, + -80.60257728824794, + 18.921194014724406 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -922.0254819445479, + -80.60257728824794, + 18.921194014724406 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -925.0254819445479, + -80.60257728824794, + 18.921194014724406 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -925.0254819445479, + -80.60257728824794, + 18.921194014724406 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -927.6235581559013, + -79.10257728824794, + 18.921194014724406 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -930.2216343672546, + -77.60257728824794, + 18.921194014724406 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -932.819710578608, + -76.10257728824794, + 18.921194014724406 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -935.4177867899614, + -74.60257728824794, + 18.921194014724406 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -938.0158630013148, + -73.10257728824794, + 18.921194014724406 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -940.6139392126681, + -71.60257728824794, + 18.921194014724406 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -943.2120154240215, + -70.10257728824794, + 18.921194014724406 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -945.8100916353749, + -68.60257728824794, + 18.921194014724406 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -948.4081678467282, + -67.10257728824794, + 18.921194014724406 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -951.0062440580816, + -65.60257728824794, + 18.921194014724406 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -953.604320269435, + -64.10257728824794, + 18.921194014724406 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -956.2023964807884, + -62.60257728824794, + 18.921194014724406 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -958.8004726921417, + -61.10257728824794, + 18.921194014724406 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -961.3985489034951, + -59.60257728824794, + 18.921194014724406 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -963.9966251148485, + -58.10257728824794, + 18.921194014724406 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -966.5947013262019, + -56.60257728824794, + 18.921194014724406 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -969.1927775375552, + -55.10257728824794, + 18.921194014724406 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -971.7908537489086, + -53.60257728824794, + 18.921194014724406 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -974.388929960262, + -52.10257728824794, + 18.921194014724406 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -976.9870061716153, + -50.60257728824794, + 18.921194014724406 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -979.5850823829687, + -49.10257728824794, + 18.921194014724406 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -979.5850823829687, + -49.10257728824794, + 18.921194014724406 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -981.0850823829687, + -46.50450107689463, + 18.921194014724406 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -982.5850823829687, + -43.90642486554131, + 18.921194014724406 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -984.0850823829687, + -41.308348654187995, + 18.921194014724406 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -985.5850823829687, + -38.71027244283468, + 18.921194014724406 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -987.0850823829687, + -36.11219623148136, + 18.921194014724406 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -988.5850823829687, + -33.51412002012805, + 18.921194014724406 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1028.0, + 0.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_9-11-53_896551633/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_9-11-53_896551633/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c3d040df60e395c7c04eb7d0df069303cf8cbcf4 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_9-11-53_896551633/pose.jsonl @@ -0,0 +1,743 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -653.1397268917297, + -2323.5278951991045, + 18.14345383126084 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -654.6397268917297, + -2326.1259714104576, + 18.14345383126084 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -656.1397268917297, + -2328.7240476218108, + 18.14345383126084 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -657.6397268917297, + -2331.322123833164, + 18.14345383126084 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -659.1397268917297, + -2333.920200044517, + 18.14345383126084 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -660.6397268917297, + -2336.51827625587, + 18.14345383126084 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -662.1397268917297, + -2339.1163524672234, + 18.14345383126084 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -663.6397268917297, + -2341.7144286785765, + 18.14345383126084 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -665.1397268917297, + -2344.3125048899296, + 18.14345383126084 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -666.6397268917297, + -2346.910581101283, + 18.14345383126084 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -668.1397268917297, + -2349.508657312636, + 18.14345383126084 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -668.1397268917297, + -2349.508657312636, + 18.14345383126084 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915224 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -670.737803103083, + -2351.008657312636, + 18.14345383126084 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -673.3358793144364, + -2352.508657312636, + 18.14345383126084 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -675.9339555257898, + -2354.008657312636, + 18.14345383126084 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -678.5320317371431, + -2355.508657312636, + 18.14345383126084 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -678.5320317371431, + -2355.508657312636, + 18.14345383126084 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -681.5320317371431, + -2355.508657312636, + 18.14345383126084 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -684.5320317371431, + -2355.508657312636, + 18.14345383126084 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -687.5320317371431, + -2355.508657312636, + 18.14345383126084 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -690.5320317371431, + -2355.508657312636, + 18.14345383126084 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -693.5320317371431, + -2355.508657312636, + 18.14345383126084 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -696.5320317371431, + -2355.508657312636, + 18.14345383126084 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -699.5320317371431, + -2355.508657312636, + 18.14345383126084 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -702.5320317371431, + -2355.508657312636, + 18.14345383126084 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -705.5320317371431, + -2355.508657312636, + 18.14345383126084 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -708.5320317371431, + -2355.508657312636, + 18.14345383126084 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -711.5320317371431, + -2355.508657312636, + 18.14345383126084 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -714.5320317371431, + -2355.508657312636, + 18.14345383126084 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -717.5320317371431, + -2355.508657312636, + 18.14345383126084 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -720.5320317371431, + -2355.508657312636, + 18.14345383126084 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -723.5320317371431, + -2355.508657312636, + 18.14345383126084 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -726.5320317371431, + -2355.508657312636, + 18.14345383126084 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -729.5320317371431, + -2355.508657312636, + 18.14345383126084 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -732.5320317371431, + -2355.508657312636, + 18.14345383126084 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -735.5320317371431, + -2355.508657312636, + 18.14345383126084 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -738.5320317371431, + -2355.508657312636, + 18.14345383126084 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -741.5320317371431, + -2355.508657312636, + 18.14345383126084 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -744.5320317371431, + -2355.508657312636, + 18.14345383126084 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -747.5320317371431, + -2355.508657312636, + 18.14345383126084 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -750.5320317371431, + -2355.508657312636, + 18.14345383126084 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -753.5320317371431, + -2355.508657312636, + 18.14345383126084 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -756.5320317371431, + -2355.508657312636, + 18.14345383126084 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -756.5320317371431, + -2355.508657312636, + 18.14345383126084 + ], + "type": "turn left", + "value": 30, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -756.5320317371431, + -2355.508657312636, + 18.14345383126084 + ], + "type": "go straight", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -758.0320317371431, + -2358.106733523989, + 18.14345383126084 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -759.5320317371431, + -2360.704809735342, + 18.14345383126084 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -761.0320317371431, + -2363.3028859466954, + 18.14345383126084 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -762.5320317371431, + -2365.9009621580485, + 18.14345383126084 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -764.0320317371431, + -2368.4990383694017, + 18.14345383126084 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -764.0320317371431, + -2368.4990383694017, + 18.14345383126084 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915224 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -766.6301079484965, + -2369.9990383694017, + 18.14345383126084 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -769.2281841598499, + -2371.4990383694017, + 18.14345383126084 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -771.8262603712033, + -2372.9990383694017, + 18.14345383126084 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -774.4243365825566, + -2374.4990383694017, + 18.14345383126084 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -777.02241279391, + -2375.9990383694017, + 18.14345383126084 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -804.0, + -2388.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_9-14-49_1967632854/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_9-14-49_1967632854/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..18e5547ea7df981773b2d32ca615bfde9d471a35 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_9-14-49_1967632854/pose.jsonl @@ -0,0 +1,249 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1124.5974590744502, + -2952.135520754065, + 19.107645424716125 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1124.5974590744502, + -2955.135520754065, + 19.107645424716125 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1124.5974590744502, + -2958.135520754065, + 19.107645424716125 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1124.5974590744502, + -2961.135520754065, + 19.107645424716125 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1124.5974590744502, + -2964.135520754065, + 19.107645424716125 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1124.5974590744502, + -2967.135520754065, + 19.107645424716125 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1124.5974590744502, + -2970.135520754065, + 19.107645424716125 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1124.5974590744502, + -2973.135520754065, + 19.107645424716125 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1124.5974590744502, + -2976.135520754065, + 19.107645424716125 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1124.5974590744502, + -2979.135520754065, + 19.107645424716125 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1124.5974590744502, + -2982.135520754065, + 19.107645424716125 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1124.5974590744502, + -2985.135520754065, + 19.107645424716125 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1124.5974590744502, + -2988.135520754065, + 19.107645424716125 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1124.5974590744502, + -2991.135520754065, + 19.107645424716125 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1124.5974590744502, + -2994.135520754065, + 19.107645424716125 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1124.5974590744502, + -2994.135520754065, + 19.107645424716125 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1126.0974590744502, + -2996.733596965418, + 19.107645424716125 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1127.5974590744502, + -2999.3316731767713, + 19.107645424716125 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023932237 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1136.0, + -3128.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_9-15-2_1245466382/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_9-15-2_1245466382/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8ed0e67e887a2778ffb7ef70f092d1d495eb78f4 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_9-15-2_1245466382/pose.jsonl @@ -0,0 +1,821 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2679.7374598978445, + -2554.506940830053, + 16.8906425134191 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2677.1393836864913, + -2553.006940830053, + 16.8906425134191 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2674.541307475138, + -2551.506940830053, + 16.8906425134191 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2671.943231263785, + -2550.006940830053, + 16.8906425134191 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2669.345155052432, + -2548.506940830053, + 16.8906425134191 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2666.7470788410787, + -2547.006940830053, + 16.8906425134191 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2664.1490026297256, + -2545.506940830053, + 16.8906425134191 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2661.5509264183725, + -2544.006940830053, + 16.8906425134191 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2658.9528502070193, + -2542.506940830053, + 16.8906425134191 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2656.354773995666, + -2541.006940830053, + 16.8906425134191 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2653.756697784313, + -2539.506940830053, + 16.8906425134191 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2651.15862157296, + -2538.006940830053, + 16.8906425134191 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2648.5605453616067, + -2536.506940830053, + 16.8906425134191 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2645.9624691502536, + -2535.006940830053, + 16.8906425134191 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2645.9624691502536, + -2535.006940830053, + 16.8906425134191 + ], + "type": "turn left", + "value": 30, + "yaw": 1.047197551196626 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2645.9624691502536, + -2535.006940830053, + 16.8906425134191 + ], + "type": "go straight", + "value": 3, + "yaw": 1.570796326794925 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2645.9624691502536, + -2532.006940830053, + 16.8906425134191 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2645.9624691502536, + -2529.006940830053, + 16.8906425134191 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2645.9624691502536, + -2526.006940830053, + 16.8906425134191 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2645.9624691502536, + -2523.006940830053, + 16.8906425134191 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2645.9624691502536, + -2520.006940830053, + 16.8906425134191 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2645.9624691502536, + -2517.006940830053, + 16.8906425134191 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2645.9624691502536, + -2514.006940830053, + 16.8906425134191 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2645.9624691502536, + -2511.006940830053, + 16.8906425134191 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2645.9624691502536, + -2508.006940830053, + 16.8906425134191 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2645.9624691502536, + -2505.006940830053, + 16.8906425134191 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2645.9624691502536, + -2502.006940830053, + 16.8906425134191 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2645.9624691502536, + -2499.006940830053, + 16.8906425134191 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2645.9624691502536, + -2496.006940830053, + 16.8906425134191 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2645.9624691502536, + -2493.006940830053, + 16.8906425134191 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2645.9624691502536, + -2490.006940830053, + 16.8906425134191 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2645.9624691502536, + -2487.006940830053, + 16.8906425134191 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2645.9624691502536, + -2484.006940830053, + 16.8906425134191 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2645.9624691502536, + -2481.006940830053, + 16.8906425134191 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2645.9624691502536, + -2478.006940830053, + 16.8906425134191 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -2645.9624691502536, + -2478.006940830053, + 16.8906425134191 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -2645.9624691502536, + -2478.006940830053, + 16.8906425134191 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -2648.5605453616067, + -2476.506940830053, + 16.8906425134191 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -2651.15862157296, + -2475.006940830053, + 16.8906425134191 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -2653.756697784313, + -2473.506940830053, + 16.8906425134191 + ], + "type": "turn right", + "value": 30, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -2653.756697784313, + -2473.506940830053, + 16.8906425134191 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931673 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -2655.256697784313, + -2470.9088646186997, + 16.8906425134191 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -2656.756697784313, + -2468.3107884073465, + 16.8906425134191 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -2658.256697784313, + -2465.7127121959934, + 16.8906425134191 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -2659.756697784313, + -2463.1146359846402, + 16.8906425134191 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -2661.256697784313, + -2460.516559773287, + 16.8906425134191 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -2662.756697784313, + -2457.918483561934, + 16.8906425134191 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -2664.256697784313, + -2455.320407350581, + 16.8906425134191 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -2665.756697784313, + -2452.7223311392277, + 16.8906425134191 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -2667.256697784313, + -2450.1242549278745, + 16.8906425134191 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -2668.756697784313, + -2447.5261787165214, + 16.8906425134191 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -2670.256697784313, + -2444.928102505168, + 16.8906425134191 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -2671.756697784313, + -2442.330026293815, + 16.8906425134191 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -2673.256697784313, + -2439.731950082462, + 16.8906425134191 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -2674.756697784313, + -2437.133873871109, + 16.8906425134191 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -2676.256697784313, + -2434.5357976597556, + 16.8906425134191 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -2677.756697784313, + -2431.9377214484025, + 16.8906425134191 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -2679.256697784313, + -2429.3396452370494, + 16.8906425134191 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -2680.756697784313, + -2426.741569025696, + 16.8906425134191 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -2682.256697784313, + -2424.143492814343, + 16.8906425134191 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -2683.756697784313, + -2421.54541660299, + 16.8906425134191 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -2685.256697784313, + -2418.9473403916368, + 16.8906425134191 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023932237 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2688.0, + -2380.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_9-18-50_1010014811/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_9-18-50_1010014811/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f72f638d5c1aeb807a9d4873f23a9565e0c61536 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_9-18-50_1010014811/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 451.5589151269563, + -1851.0865727572725, + 38.598014468074055 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 448.960838915603, + -1849.5865727572725, + 38.598014468074055 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 446.3627627042497, + -1848.0865727572725, + 38.598014468074055 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 443.7646864928964, + -1846.5865727572725, + 38.598014468074055 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 441.16661028154306, + -1845.0865727572725, + 38.598014468074055 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 438.56853407018974, + -1843.5865727572725, + 38.598014468074055 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 435.9704578588364, + -1842.0865727572725, + 38.598014468074055 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 433.3723816474831, + -1840.5865727572725, + 38.598014468074055 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 430.7743054361298, + -1839.0865727572725, + 38.598014468074055 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 428.1762292247765, + -1837.5865727572725, + 38.598014468074055 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 425.57815301342316, + -1836.0865727572725, + 38.598014468074055 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 422.98007680206985, + -1834.5865727572725, + 38.598014468074055 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 420.38200059071653, + -1833.0865727572725, + 38.598014468074055 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 417.7839243793632, + -1831.5865727572725, + 38.598014468074055 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 415.1858481680099, + -1830.0865727572725, + 38.598014468074055 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 412.5877719566566, + -1828.5865727572725, + 38.598014468074055 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 409.98969574530327, + -1827.0865727572725, + 38.598014468074055 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 407.39161953394995, + -1825.5865727572725, + 38.598014468074055 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 404.79354332259663, + -1824.0865727572725, + 38.598014468074055 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 402.1954671112433, + -1822.5865727572725, + 38.598014468074055 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 399.59739089989, + -1821.0865727572725, + 38.598014468074055 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 399.59739089989, + -1821.0865727572725, + 38.598014468074055 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 396.59739089989, + -1821.0865727572725, + 38.598014468074055 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 393.59739089989, + -1821.0865727572725, + 38.598014468074055 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 390.59739089989, + -1821.0865727572725, + 38.598014468074055 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 387.59739089989, + -1821.0865727572725, + 38.598014468074055 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 384.59739089989, + -1821.0865727572725, + 38.598014468074055 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 381.59739089989, + -1821.0865727572725, + 38.598014468074055 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 378.59739089989, + -1821.0865727572725, + 38.598014468074055 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 375.59739089989, + -1821.0865727572725, + 38.598014468074055 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 372.59739089989, + -1821.0865727572725, + 38.598014468074055 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 369.59739089989, + -1821.0865727572725, + 38.598014468074055 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 366.59739089989, + -1821.0865727572725, + 38.598014468074055 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 363.59739089989, + -1821.0865727572725, + 38.598014468074055 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 360.59739089989, + -1821.0865727572725, + 38.598014468074055 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 357.59739089989, + -1821.0865727572725, + 38.598014468074055 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 357.59739089989, + -1821.0865727572725, + 38.598014468074055 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 354.9993146885367, + -1819.5865727572725, + 38.598014468074055 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 352.40123847718337, + -1818.0865727572725, + 38.598014468074055 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 349.80316226583005, + -1816.5865727572725, + 38.598014468074055 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 347.20508605447674, + -1815.0865727572725, + 38.598014468074055 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 344.6070098431234, + -1813.5865727572725, + 38.598014468074055 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 342.0089336317701, + -1812.0865727572725, + 38.598014468074055 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 339.4108574204168, + -1810.5865727572725, + 38.598014468074055 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 336.8127812090635, + -1809.0865727572725, + 38.598014468074055 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 300.0, + -1796.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_9-2-33_1412017135/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_9-2-33_1412017135/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cb18ef52797a097cfb42b922dd00a80f0079ae2a --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_9-2-33_1412017135/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 246.3237724174359, + -1797.2098546660463, + 20.26658595871716 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 246.3237724174359, + -1800.2098546660463, + 20.26658595871716 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 246.3237724174359, + -1803.2098546660463, + 20.26658595871716 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 246.3237724174359, + -1806.2098546660463, + 20.26658595871716 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 246.3237724174359, + -1809.2098546660463, + 20.26658595871716 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 246.3237724174359, + -1812.2098546660463, + 20.26658595871716 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 246.3237724174359, + -1815.2098546660463, + 20.26658595871716 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 246.3237724174359, + -1818.2098546660463, + 20.26658595871716 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 246.3237724174359, + -1821.2098546660463, + 20.26658595871716 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 246.3237724174359, + -1824.2098546660463, + 20.26658595871716 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 246.3237724174359, + -1827.2098546660463, + 20.26658595871716 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 246.3237724174359, + -1830.2098546660463, + 20.26658595871716 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 246.3237724174359, + -1833.2098546660463, + 20.26658595871716 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 246.3237724174359, + -1836.2098546660463, + 20.26658595871716 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 246.3237724174359, + -1839.2098546660463, + 20.26658595871716 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 246.3237724174359, + -1842.2098546660463, + 20.26658595871716 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 246.3237724174359, + -1845.2098546660463, + 20.26658595871716 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 246.3237724174359, + -1848.2098546660463, + 20.26658595871716 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 246.3237724174359, + -1851.2098546660463, + 20.26658595871716 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 246.3237724174359, + -1854.2098546660463, + 20.26658595871716 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 246.3237724174359, + -1857.2098546660463, + 20.26658595871716 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 246.3237724174359, + -1860.2098546660463, + 20.26658595871716 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 246.3237724174359, + -1863.2098546660463, + 20.26658595871716 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 246.3237724174359, + -1866.2098546660463, + 20.26658595871716 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 246.3237724174359, + -1869.2098546660463, + 20.26658595871716 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 246.3237724174359, + -1872.2098546660463, + 20.26658595871716 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 246.3237724174359, + -1875.2098546660463, + 20.26658595871716 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 246.3237724174359, + -1878.2098546660463, + 20.26658595871716 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 246.3237724174359, + -1881.2098546660463, + 20.26658595871716 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 246.3237724174359, + -1884.2098546660463, + 20.26658595871716 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 246.3237724174359, + -1887.2098546660463, + 20.26658595871716 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 246.3237724174359, + -1890.2098546660463, + 20.26658595871716 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 246.3237724174359, + -1893.2098546660463, + 20.26658595871716 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 246.3237724174359, + -1896.2098546660463, + 20.26658595871716 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 246.3237724174359, + -1899.2098546660463, + 20.26658595871716 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 246.3237724174359, + -1902.2098546660463, + 20.26658595871716 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 246.3237724174359, + -1905.2098546660463, + 20.26658595871716 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 246.3237724174359, + -1908.2098546660463, + 20.26658595871716 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 246.3237724174359, + -1911.2098546660463, + 20.26658595871716 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 246.3237724174359, + -1914.2098546660463, + 20.26658595871716 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 246.3237724174359, + -1917.2098546660463, + 20.26658595871716 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 246.3237724174359, + -1920.2098546660463, + 20.26658595871716 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 246.3237724174359, + -1923.2098546660463, + 20.26658595871716 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 246.3237724174359, + -1926.2098546660463, + 20.26658595871716 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 246.3237724174359, + -1929.2098546660463, + 20.26658595871716 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 246.3237724174359, + -1932.2098546660463, + 20.26658595871716 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 246.3237724174359, + -1935.2098546660463, + 20.26658595871716 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 244.0, + -1964.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_9-22-40_253674535/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_9-22-40_253674535/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..afa220318cb655bfd294e3903de7b076f25cc7c1 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_9-22-40_253674535/pose.jsonl @@ -0,0 +1,743 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4348.114916772811, + -2800.5451039573336, + 34.58613637257422 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4346.614916772811, + -2803.1431801686867, + 34.58613637257422 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4345.114916772811, + -2805.74125638004, + 34.58613637257422 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4343.614916772811, + -2808.339332591393, + 34.58613637257422 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4342.114916772811, + -2810.937408802746, + 34.58613637257422 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4340.614916772811, + -2813.5354850140993, + 34.58613637257422 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4339.114916772811, + -2816.1335612254525, + 34.58613637257422 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4337.614916772811, + -2818.7316374368056, + 34.58613637257422 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4336.114916772811, + -2821.3297136481588, + 34.58613637257422 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4334.614916772811, + -2823.927789859512, + 34.58613637257422 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4333.114916772811, + -2826.525866070865, + 34.58613637257422 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4331.614916772811, + -2829.123942282218, + 34.58613637257422 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4330.114916772811, + -2831.7220184935713, + 34.58613637257422 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4328.614916772811, + -2834.3200947049245, + 34.58613637257422 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4327.114916772811, + -2836.9181709162776, + 34.58613637257422 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4325.614916772811, + -2839.516247127631, + 34.58613637257422 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 4324.114916772811, + -2842.114323338984, + 34.58613637257422 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 4322.614916772811, + -2844.712399550337, + 34.58613637257422 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 4321.114916772811, + -2847.31047576169, + 34.58613637257422 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 4319.614916772811, + -2849.9085519730434, + 34.58613637257422 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 4318.114916772811, + -2852.5066281843965, + 34.58613637257422 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 4316.614916772811, + -2855.1047043957496, + 34.58613637257422 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 4315.114916772811, + -2857.702780607103, + 34.58613637257422 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 4313.614916772811, + -2860.300856818456, + 34.58613637257422 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 4312.114916772811, + -2862.898933029809, + 34.58613637257422 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 4310.614916772811, + -2865.4970092411622, + 34.58613637257422 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 4309.114916772811, + -2868.0950854525154, + 34.58613637257422 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 4307.614916772811, + -2870.6931616638685, + 34.58613637257422 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 4306.114916772811, + -2873.2912378752217, + 34.58613637257422 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 4304.614916772811, + -2875.889314086575, + 34.58613637257422 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 4303.114916772811, + -2878.487390297928, + 34.58613637257422 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 4303.114916772811, + -2878.487390297928, + 34.58613637257422 + ], + "type": "go straight", + "value": 3, + "yaw": -1.570796326794925 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 4303.114916772811, + -2881.487390297928, + 34.58613637257422 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 4303.114916772811, + -2884.487390297928, + 34.58613637257422 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 4303.114916772811, + -2887.487390297928, + 34.58613637257422 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 4303.114916772811, + -2890.487390297928, + 34.58613637257422 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 4303.114916772811, + -2893.487390297928, + 34.58613637257422 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 4303.114916772811, + -2896.487390297928, + 34.58613637257422 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 4303.114916772811, + -2899.487390297928, + 34.58613637257422 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 4303.114916772811, + -2902.487390297928, + 34.58613637257422 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 4303.114916772811, + -2905.487390297928, + 34.58613637257422 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 4303.114916772811, + -2908.487390297928, + 34.58613637257422 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 4303.114916772811, + -2911.487390297928, + 34.58613637257422 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 4303.114916772811, + -2914.487390297928, + 34.58613637257422 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 4303.114916772811, + -2917.487390297928, + 34.58613637257422 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 4303.114916772811, + -2920.487390297928, + 34.58613637257422 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 4303.114916772811, + -2923.487390297928, + 34.58613637257422 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 4303.114916772811, + -2926.487390297928, + 34.58613637257422 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 4303.114916772811, + -2929.487390297928, + 34.58613637257422 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 4303.114916772811, + -2932.487390297928, + 34.58613637257422 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 4303.114916772811, + -2935.487390297928, + 34.58613637257422 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 4303.114916772811, + -2938.487390297928, + 34.58613637257422 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 4303.114916772811, + -2941.487390297928, + 34.58613637257422 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 4303.114916772811, + -2944.487390297928, + 34.58613637257422 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 4303.114916772811, + -2947.487390297928, + 34.58613637257422 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 4303.114916772811, + -2950.487390297928, + 34.58613637257422 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4300.0, + -2964.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_9-23-42_2115115464/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_9-23-42_2115115464/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7fed187dbe4b9267e7dcccd30cd637bd16f45696 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_9-23-42_2115115464/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 60.442168423247125, + 1244.8355618469793, + 37.56627251608897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 63.442168423247125, + 1244.8355618469793, + 37.56627251608897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 66.44216842324713, + 1244.8355618469793, + 37.56627251608897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 69.44216842324713, + 1244.8355618469793, + 37.56627251608897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 72.44216842324713, + 1244.8355618469793, + 37.56627251608897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 75.44216842324713, + 1244.8355618469793, + 37.56627251608897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 78.44216842324713, + 1244.8355618469793, + 37.56627251608897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 81.44216842324713, + 1244.8355618469793, + 37.56627251608897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 84.44216842324713, + 1244.8355618469793, + 37.56627251608897 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 84.44216842324713, + 1244.8355618469793, + 37.56627251608897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 87.04024463460044, + 1246.3355618469793, + 37.56627251608897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 89.63832084595376, + 1247.8355618469793, + 37.56627251608897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 92.23639705730707, + 1249.3355618469793, + 37.56627251608897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 94.83447326866039, + 1250.8355618469793, + 37.56627251608897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 97.4325494800137, + 1252.3355618469793, + 37.56627251608897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 100.03062569136702, + 1253.8355618469793, + 37.56627251608897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 102.62870190272034, + 1255.3355618469793, + 37.56627251608897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 105.22677811407365, + 1256.8355618469793, + 37.56627251608897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 107.82485432542697, + 1258.3355618469793, + 37.56627251608897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 110.42293053678029, + 1259.8355618469793, + 37.56627251608897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 113.0210067481336, + 1261.3355618469793, + 37.56627251608897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 115.61908295948692, + 1262.8355618469793, + 37.56627251608897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 118.21715917084023, + 1264.3355618469793, + 37.56627251608897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 120.81523538219355, + 1265.8355618469793, + 37.56627251608897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 123.41331159354687, + 1267.3355618469793, + 37.56627251608897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 126.01138780490018, + 1268.8355618469793, + 37.56627251608897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 128.6094640162535, + 1270.3355618469793, + 37.56627251608897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 131.2075402276068, + 1271.8355618469793, + 37.56627251608897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 133.80561643896013, + 1273.3355618469793, + 37.56627251608897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 136.40369265031345, + 1274.8355618469793, + 37.56627251608897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 139.00176886166676, + 1276.3355618469793, + 37.56627251608897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 141.59984507302008, + 1277.8355618469793, + 37.56627251608897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 144.1979212843734, + 1279.3355618469793, + 37.56627251608897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 146.7959974957267, + 1280.8355618469793, + 37.56627251608897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 149.39407370708003, + 1282.3355618469793, + 37.56627251608897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 151.99214991843334, + 1283.8355618469793, + 37.56627251608897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 154.59022612978666, + 1285.3355618469793, + 37.56627251608897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 157.18830234113997, + 1286.8355618469793, + 37.56627251608897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 159.7863785524933, + 1288.3355618469793, + 37.56627251608897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 162.3844547638466, + 1289.8355618469793, + 37.56627251608897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 164.98253097519992, + 1291.3355618469793, + 37.56627251608897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 167.58060718655324, + 1292.8355618469793, + 37.56627251608897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 170.17868339790655, + 1294.3355618469793, + 37.56627251608897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 172.77675960925987, + 1295.8355618469793, + 37.56627251608897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 175.37483582061319, + 1297.3355618469793, + 37.56627251608897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 177.9729120319665, + 1298.8355618469793, + 37.56627251608897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 180.57098824331982, + 1300.3355618469793, + 37.56627251608897 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 180.57098824331982, + 1300.3355618469793, + 37.56627251608897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 183.57098824331982, + 1300.3355618469793, + 37.56627251608897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 186.57098824331982, + 1300.3355618469793, + 37.56627251608897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 189.57098824331982, + 1300.3355618469793, + 37.56627251608897 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 224.0, + 1316.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_9-27-56_217852623/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_9-27-56_217852623/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2a9d76111224c4649826264e68cd0230dfb62270 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_9-27-56_217852623/pose.jsonl @@ -0,0 +1,561 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -596.9204858918946, + 1891.9725663542788, + 16.53495567811004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -598.4204858918946, + 1894.5706425656322, + 16.53495567811004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -599.9204858918946, + 1897.1687187769855, + 16.53495567811004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -601.4204858918946, + 1899.766794988339, + 16.53495567811004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -601.4204858918946, + 1899.766794988339, + 16.53495567811004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -604.0185621032479, + 1901.266794988339, + 16.53495567811004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -606.6166383146012, + 1902.766794988339, + 16.53495567811004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -609.2147145259546, + 1904.266794988339, + 16.53495567811004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -611.812790737308, + 1905.766794988339, + 16.53495567811004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -614.4108669486614, + 1907.266794988339, + 16.53495567811004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -617.0089431600147, + 1908.766794988339, + 16.53495567811004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -617.0089431600147, + 1908.766794988339, + 16.53495567811004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -620.0089431600147, + 1908.766794988339, + 16.53495567811004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -623.0089431600147, + 1908.766794988339, + 16.53495567811004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -626.0089431600147, + 1908.766794988339, + 16.53495567811004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -629.0089431600147, + 1908.766794988339, + 16.53495567811004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -632.0089431600147, + 1908.766794988339, + 16.53495567811004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -635.0089431600147, + 1908.766794988339, + 16.53495567811004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -638.0089431600147, + 1908.766794988339, + 16.53495567811004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -641.0089431600147, + 1908.766794988339, + 16.53495567811004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -644.0089431600147, + 1908.766794988339, + 16.53495567811004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -647.0089431600147, + 1908.766794988339, + 16.53495567811004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -650.0089431600147, + 1908.766794988339, + 16.53495567811004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -653.0089431600147, + 1908.766794988339, + 16.53495567811004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -656.0089431600147, + 1908.766794988339, + 16.53495567811004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -659.0089431600147, + 1908.766794988339, + 16.53495567811004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -662.0089431600147, + 1908.766794988339, + 16.53495567811004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -665.0089431600147, + 1908.766794988339, + 16.53495567811004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -668.0089431600147, + 1908.766794988339, + 16.53495567811004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -671.0089431600147, + 1908.766794988339, + 16.53495567811004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -674.0089431600147, + 1908.766794988339, + 16.53495567811004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -677.0089431600147, + 1908.766794988339, + 16.53495567811004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -680.0089431600147, + 1908.766794988339, + 16.53495567811004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -683.0089431600147, + 1908.766794988339, + 16.53495567811004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -686.0089431600147, + 1908.766794988339, + 16.53495567811004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -689.0089431600147, + 1908.766794988339, + 16.53495567811004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -692.0089431600147, + 1908.766794988339, + 16.53495567811004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -695.0089431600147, + 1908.766794988339, + 16.53495567811004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -698.0089431600147, + 1908.766794988339, + 16.53495567811004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -701.0089431600147, + 1908.766794988339, + 16.53495567811004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -704.0089431600147, + 1908.766794988339, + 16.53495567811004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -707.0089431600147, + 1908.766794988339, + 16.53495567811004 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -748.0, + 1916.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_9-29-47_503458793/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_9-29-47_503458793/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..489224aad0e7b8b25ecb1d4ab3dd6ca4f91e0499 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_9-29-47_503458793/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1383.8300966024542, + -1875.8883159900902, + 32.72012827767938 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1386.8300966024542, + -1875.8883159900902, + 32.72012827767938 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1389.8300966024542, + -1875.8883159900902, + 32.72012827767938 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1392.8300966024542, + -1875.8883159900902, + 32.72012827767938 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1395.8300966024542, + -1875.8883159900902, + 32.72012827767938 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1395.8300966024542, + -1875.8883159900902, + 32.72012827767938 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1395.8300966024542, + -1875.8883159900902, + 32.72012827767938 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1397.3300966024542, + -1878.4863922014436, + 32.72012827767938 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1398.8300966024542, + -1881.084468412797, + 32.72012827767938 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1400.3300966024542, + -1883.6825446241503, + 32.72012827767938 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1401.8300966024542, + -1886.2806208355037, + 32.72012827767938 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1403.3300966024542, + -1888.878697046857, + 32.72012827767938 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1404.8300966024542, + -1891.4767732582104, + 32.72012827767938 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1406.3300966024542, + -1894.0748494695638, + 32.72012827767938 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1407.8300966024542, + -1896.6729256809172, + 32.72012827767938 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1409.3300966024542, + -1899.2710018922705, + 32.72012827767938 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1410.8300966024542, + -1901.869078103624, + 32.72012827767938 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1412.3300966024542, + -1904.4671543149773, + 32.72012827767938 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1412.3300966024542, + -1904.4671543149773, + 32.72012827767938 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1414.9281728138076, + -1905.9671543149773, + 32.72012827767938 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1417.526249025161, + -1907.4671543149773, + 32.72012827767938 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1420.1243252365143, + -1908.9671543149773, + 32.72012827767938 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1422.7224014478677, + -1910.4671543149773, + 32.72012827767938 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1425.320477659221, + -1911.9671543149773, + 32.72012827767938 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1427.9185538705744, + -1913.4671543149773, + 32.72012827767938 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1430.5166300819278, + -1914.9671543149773, + 32.72012827767938 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1433.1147062932812, + -1916.4671543149773, + 32.72012827767938 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1435.7127825046346, + -1917.9671543149773, + 32.72012827767938 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1438.310858715988, + -1919.4671543149773, + 32.72012827767938 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1440.9089349273413, + -1920.9671543149773, + 32.72012827767938 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1443.5070111386947, + -1922.4671543149773, + 32.72012827767938 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1446.105087350048, + -1923.9671543149773, + 32.72012827767938 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1448.7031635614014, + -1925.4671543149773, + 32.72012827767938 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1451.3012397727548, + -1926.9671543149773, + 32.72012827767938 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1453.8993159841082, + -1928.4671543149773, + 32.72012827767938 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1456.4973921954615, + -1929.9671543149773, + 32.72012827767938 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1459.095468406815, + -1931.4671543149773, + 32.72012827767938 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1461.6935446181683, + -1932.9671543149773, + 32.72012827767938 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1464.2916208295217, + -1934.4671543149773, + 32.72012827767938 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1466.889697040875, + -1935.9671543149773, + 32.72012827767938 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1469.4877732522284, + -1937.4671543149773, + 32.72012827767938 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1472.0858494635818, + -1938.9671543149773, + 32.72012827767938 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1474.6839256749352, + -1940.4671543149773, + 32.72012827767938 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1477.2820018862885, + -1941.9671543149773, + 32.72012827767938 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1520.0, + -1968.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_9-30-47_2094613281/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_9-30-47_2094613281/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c2fb0ccd2d5602022727d575f5026ce734a3b1a4 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_9-30-47_2094613281/pose.jsonl @@ -0,0 +1,522 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2086.650196830184, + 2351.825546123032, + 39.18015103633368 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2083.650196830184, + 2351.825546123032, + 39.18015103633368 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2080.650196830184, + 2351.825546123032, + 39.18015103633368 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2080.650196830184, + 2351.825546123032, + 39.18015103633368 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2080.650196830184, + 2351.825546123032, + 39.18015103633368 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2079.150196830184, + 2354.423622334385, + 39.18015103633368 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2077.650196830184, + 2357.021698545738, + 39.18015103633368 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2077.650196830184, + 2357.021698545738, + 39.18015103633368 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948681 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2077.650196830184, + 2360.021698545738, + 39.18015103633368 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2077.650196830184, + 2363.021698545738, + 39.18015103633368 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2077.650196830184, + 2366.021698545738, + 39.18015103633368 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2077.650196830184, + 2369.021698545738, + 39.18015103633368 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2077.650196830184, + 2372.021698545738, + 39.18015103633368 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2077.650196830184, + 2375.021698545738, + 39.18015103633368 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2077.650196830184, + 2378.021698545738, + 39.18015103633368 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2077.650196830184, + 2381.021698545738, + 39.18015103633368 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2077.650196830184, + 2381.021698545738, + 39.18015103633368 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2079.150196830184, + 2383.6197747570914, + 39.18015103633368 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2080.650196830184, + 2386.2178509684445, + 39.18015103633368 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2082.150196830184, + 2388.8159271797977, + 39.18015103633368 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2083.650196830184, + 2391.414003391151, + 39.18015103633368 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2085.150196830184, + 2394.012079602504, + 39.18015103633368 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2086.650196830184, + 2396.610155813857, + 39.18015103633368 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2088.150196830184, + 2399.2082320252102, + 39.18015103633368 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2089.650196830184, + 2401.8063082365634, + 39.18015103633368 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2091.150196830184, + 2404.4043844479165, + 39.18015103633368 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2092.650196830184, + 2407.0024606592697, + 39.18015103633368 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2094.150196830184, + 2409.600536870623, + 39.18015103633368 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2095.650196830184, + 2412.198613081976, + 39.18015103633368 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2097.150196830184, + 2414.796689293329, + 39.18015103633368 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2098.650196830184, + 2417.3947655046823, + 39.18015103633368 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2100.150196830184, + 2419.9928417160354, + 39.18015103633368 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2101.650196830184, + 2422.5909179273885, + 39.18015103633368 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2103.150196830184, + 2425.1889941387417, + 39.18015103633368 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2104.650196830184, + 2427.787070350095, + 39.18015103633368 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -2106.150196830184, + 2430.385146561448, + 39.18015103633368 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -2107.650196830184, + 2432.983222772801, + 39.18015103633368 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -2109.150196830184, + 2435.5812989841543, + 39.18015103633368 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -2110.650196830184, + 2438.1793751955074, + 39.18015103633368 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023932237 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2132.0, + 2516.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_9-32-12_356228371/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_9-32-12_356228371/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..049c3e6c4db386c0e620dc6eb1fead453fa0c46b --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_9-32-12_356228371/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3358.0023710832183, + -157.8037876045573, + 20.39004091159505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3358.0023710832183, + -154.8037876045573, + 20.39004091159505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3358.0023710832183, + -151.8037876045573, + 20.39004091159505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3358.0023710832183, + -148.8037876045573, + 20.39004091159505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3358.0023710832183, + -145.8037876045573, + 20.39004091159505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3358.0023710832183, + -142.8037876045573, + 20.39004091159505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3358.0023710832183, + -139.8037876045573, + 20.39004091159505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3358.0023710832183, + -136.8037876045573, + 20.39004091159505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 3358.0023710832183, + -133.8037876045573, + 20.39004091159505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 3358.0023710832183, + -130.8037876045573, + 20.39004091159505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 3358.0023710832183, + -127.8037876045573, + 20.39004091159505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 3358.0023710832183, + -124.8037876045573, + 20.39004091159505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 3358.0023710832183, + -121.8037876045573, + 20.39004091159505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 3358.0023710832183, + -118.8037876045573, + 20.39004091159505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 3358.0023710832183, + -115.8037876045573, + 20.39004091159505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 3358.0023710832183, + -112.8037876045573, + 20.39004091159505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 3358.0023710832183, + -109.8037876045573, + 20.39004091159505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 3358.0023710832183, + -106.8037876045573, + 20.39004091159505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 3358.0023710832183, + -103.8037876045573, + 20.39004091159505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 3358.0023710832183, + -100.8037876045573, + 20.39004091159505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 3358.0023710832183, + -97.8037876045573, + 20.39004091159505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 3358.0023710832183, + -94.8037876045573, + 20.39004091159505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 3358.0023710832183, + -91.8037876045573, + 20.39004091159505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 3358.0023710832183, + -88.8037876045573, + 20.39004091159505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 3358.0023710832183, + -85.8037876045573, + 20.39004091159505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 3358.0023710832183, + -82.8037876045573, + 20.39004091159505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 3358.0023710832183, + -79.8037876045573, + 20.39004091159505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 3358.0023710832183, + -76.8037876045573, + 20.39004091159505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 3358.0023710832183, + -73.8037876045573, + 20.39004091159505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 3358.0023710832183, + -70.8037876045573, + 20.39004091159505 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 3358.0023710832183, + -70.8037876045573, + 20.39004091159505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 3359.5023710832183, + -68.20571139320398, + 20.39004091159505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 3361.0023710832183, + -65.60763518185067, + 20.39004091159505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 3362.5023710832183, + -63.00955897049735, + 20.39004091159505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 3364.0023710832183, + -60.411482759144036, + 20.39004091159505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 3365.5023710832183, + -57.81340654779072, + 20.39004091159505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 3367.0023710832183, + -55.215330336437404, + 20.39004091159505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 3368.5023710832183, + -52.61725412508409, + 20.39004091159505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 3370.0023710832183, + -50.01917791373077, + 20.39004091159505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 3371.5023710832183, + -47.421101702377456, + 20.39004091159505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 3373.0023710832183, + -44.82302549102414, + 20.39004091159505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 3374.5023710832183, + -42.224949279670824, + 20.39004091159505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 3376.0023710832183, + -39.62687306831751, + 20.39004091159505 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 3376.0023710832183, + -39.62687306831751, + 20.39004091159505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 3378.6004472945715, + -38.12687306831751, + 20.39004091159505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 3381.1985235059246, + -36.62687306831751, + 20.39004091159505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 3383.796599717278, + -35.12687306831751, + 20.39004091159505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 3386.394675928631, + -33.62687306831751, + 20.39004091159505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 3388.992752139984, + -32.12687306831751, + 20.39004091159505 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755983272 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3396.0, + -12.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_9-32-39_2097657371/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_9-32-39_2097657371/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6010fffd48dc25b23bdf99ef86b89095f4c40db4 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_9-32-39_2097657371/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1510.76872272796, + 57.11866101750695, + 16.75327007726516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1513.76872272796, + 57.11866101750695, + 16.75327007726516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1516.76872272796, + 57.11866101750695, + 16.75327007726516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1519.76872272796, + 57.11866101750695, + 16.75327007726516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1522.76872272796, + 57.11866101750695, + 16.75327007726516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1525.76872272796, + 57.11866101750695, + 16.75327007726516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1528.76872272796, + 57.11866101750695, + 16.75327007726516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1531.76872272796, + 57.11866101750695, + 16.75327007726516 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1531.76872272796, + 57.11866101750695, + 16.75327007726516 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1531.76872272796, + 57.11866101750695, + 16.75327007726516 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1533.26872272796, + 54.520584806153636, + 16.75327007726516 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1534.76872272796, + 51.92250859480032, + 16.75327007726516 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1536.26872272796, + 49.324432383447004, + 16.75327007726516 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1537.76872272796, + 46.72635617209369, + 16.75327007726516 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1539.26872272796, + 44.12827996074037, + 16.75327007726516 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1540.76872272796, + 41.530203749387056, + 16.75327007726516 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1542.26872272796, + 38.93212753803374, + 16.75327007726516 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1543.76872272796, + 36.334051326680424, + 16.75327007726516 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1545.26872272796, + 33.73597511532711, + 16.75327007726516 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1545.26872272796, + 33.73597511532711, + 16.75327007726516 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1547.8667989393134, + 32.23597511532711, + 16.75327007726516 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1550.4648751506668, + 30.735975115327108, + 16.75327007726516 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1553.0629513620202, + 29.235975115327108, + 16.75327007726516 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1555.6610275733735, + 27.735975115327108, + 16.75327007726516 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1558.259103784727, + 26.235975115327108, + 16.75327007726516 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1560.8571799960803, + 24.735975115327108, + 16.75327007726516 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1563.4552562074336, + 23.235975115327108, + 16.75327007726516 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1566.053332418787, + 21.735975115327108, + 16.75327007726516 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1568.6514086301404, + 20.235975115327108, + 16.75327007726516 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1568.6514086301404, + 20.235975115327108, + 16.75327007726516 + ], + "type": "go straight", + "value": 3, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1571.6514086301404, + 20.235975115327108, + 16.75327007726516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1574.6514086301404, + 20.235975115327108, + 16.75327007726516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1577.6514086301404, + 20.235975115327108, + 16.75327007726516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1580.6514086301404, + 20.235975115327108, + 16.75327007726516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1583.6514086301404, + 20.235975115327108, + 16.75327007726516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1586.6514086301404, + 20.235975115327108, + 16.75327007726516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1589.6514086301404, + 20.235975115327108, + 16.75327007726516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1592.6514086301404, + 20.235975115327108, + 16.75327007726516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1595.6514086301404, + 20.235975115327108, + 16.75327007726516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1598.6514086301404, + 20.235975115327108, + 16.75327007726516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1601.6514086301404, + 20.235975115327108, + 16.75327007726516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1604.6514086301404, + 20.235975115327108, + 16.75327007726516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1607.6514086301404, + 20.235975115327108, + 16.75327007726516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1610.6514086301404, + 20.235975115327108, + 16.75327007726516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1613.6514086301404, + 20.235975115327108, + 16.75327007726516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1616.6514086301404, + 20.235975115327108, + 16.75327007726516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1619.6514086301404, + 20.235975115327108, + 16.75327007726516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1622.6514086301404, + 20.235975115327108, + 16.75327007726516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1625.6514086301404, + 20.235975115327108, + 16.75327007726516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1628.6514086301404, + 20.235975115327108, + 16.75327007726516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1631.6514086301404, + 20.235975115327108, + 16.75327007726516 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1672.0, + 8.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_9-33-8_978053418/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_9-33-8_978053418/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..04ea89523046c406cd45898ed8e7281550692756 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_9-33-8_978053418/pose.jsonl @@ -0,0 +1,392 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2551.22838043128, + 1648.1637646584838, + 30.662644118900726 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2549.72838043128, + 1645.5656884471305, + 30.662644118900726 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2548.22838043128, + 1642.967612235777, + 30.662644118900726 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2546.72838043128, + 1640.3695360244237, + 30.662644118900726 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2545.22838043128, + 1637.7714598130704, + 30.662644118900726 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2543.72838043128, + 1635.173383601717, + 30.662644118900726 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2542.22838043128, + 1632.5753073903636, + 30.662644118900726 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2540.72838043128, + 1629.9772311790102, + 30.662644118900726 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2539.22838043128, + 1627.3791549676569, + 30.662644118900726 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 2537.72838043128, + 1624.7810787563035, + 30.662644118900726 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2536.22838043128, + 1622.1830025449501, + 30.662644118900726 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2534.72838043128, + 1619.5849263335967, + 30.662644118900726 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 2533.22838043128, + 1616.9868501222434, + 30.662644118900726 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 2531.72838043128, + 1614.38877391089, + 30.662644118900726 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 2530.22838043128, + 1611.7906976995366, + 30.662644118900726 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 2528.72838043128, + 1609.1926214881832, + 30.662644118900726 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 2527.22838043128, + 1606.5945452768299, + 30.662644118900726 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 2525.72838043128, + 1603.9964690654765, + 30.662644118900726 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 2524.22838043128, + 1601.3983928541231, + 30.662644118900726 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 2522.72838043128, + 1598.8003166427698, + 30.662644118900726 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 2521.22838043128, + 1596.2022404314164, + 30.662644118900726 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 2519.72838043128, + 1593.604164220063, + 30.662644118900726 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 2518.22838043128, + 1591.0060880087096, + 30.662644118900726 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 2516.72838043128, + 1588.4080117973563, + 30.662644118900726 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 2516.72838043128, + 1588.4080117973563, + 30.662644118900726 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 2516.72838043128, + 1585.4080117973563, + 30.662644118900726 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 2516.72838043128, + 1582.4080117973563, + 30.662644118900726 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 2516.72838043128, + 1579.4080117973563, + 30.662644118900726 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 2516.72838043128, + 1576.4080117973563, + 30.662644118900726 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2484.0, + 1512.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_9-38-4_1607500335/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_9-38-4_1607500335/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1100ef3bc5fc5c5db7789941b0301961777889d1 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_9-38-4_1607500335/pose.jsonl @@ -0,0 +1,912 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3056.9499833642994, + 398.11872896200833, + 20.490198155657385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3055.4499833642994, + 395.520652750655, + 20.490198155657385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3053.9499833642994, + 392.9225765393017, + 20.490198155657385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3052.4499833642994, + 390.3245003279484, + 20.490198155657385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3050.9499833642994, + 387.72642411659507, + 20.490198155657385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3049.4499833642994, + 385.12834790524175, + 20.490198155657385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3047.9499833642994, + 382.53027169388844, + 20.490198155657385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3046.4499833642994, + 379.9321954825351, + 20.490198155657385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 3044.9499833642994, + 377.3341192711818, + 20.490198155657385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 3043.4499833642994, + 374.7360430598285, + 20.490198155657385 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 3043.4499833642994, + 374.7360430598285, + 20.490198155657385 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 3043.4499833642994, + 371.7360430598285, + 20.490198155657385 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 3043.4499833642994, + 368.7360430598285, + 20.490198155657385 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 3043.4499833642994, + 365.7360430598285, + 20.490198155657385 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 3043.4499833642994, + 362.7360430598285, + 20.490198155657385 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 3043.4499833642994, + 359.7360430598285, + 20.490198155657385 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 3043.4499833642994, + 356.7360430598285, + 20.490198155657385 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 3043.4499833642994, + 356.7360430598285, + 20.490198155657385 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 3043.4499833642994, + 356.7360430598285, + 20.490198155657385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 3040.8519071529463, + 355.2360430598285, + 20.490198155657385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 3038.253830941593, + 353.7360430598285, + 20.490198155657385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 3035.65575473024, + 352.2360430598285, + 20.490198155657385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 3033.057678518887, + 350.7360430598285, + 20.490198155657385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 3030.4596023075337, + 349.2360430598285, + 20.490198155657385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 3027.8615260961806, + 347.7360430598285, + 20.490198155657385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 3025.2634498848274, + 346.2360430598285, + 20.490198155657385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 3022.6653736734743, + 344.7360430598285, + 20.490198155657385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 3020.067297462121, + 343.2360430598285, + 20.490198155657385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 3017.469221250768, + 341.7360430598285, + 20.490198155657385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 3014.871145039415, + 340.2360430598285, + 20.490198155657385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 3012.2730688280617, + 338.7360430598285, + 20.490198155657385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 3009.6749926167086, + 337.2360430598285, + 20.490198155657385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 3007.0769164053554, + 335.7360430598285, + 20.490198155657385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 3004.4788401940023, + 334.2360430598285, + 20.490198155657385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 3001.880763982649, + 332.7360430598285, + 20.490198155657385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 2999.282687771296, + 331.2360430598285, + 20.490198155657385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 2996.684611559943, + 329.7360430598285, + 20.490198155657385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 2994.0865353485897, + 328.2360430598285, + 20.490198155657385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 2991.4884591372365, + 326.7360430598285, + 20.490198155657385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 2988.8903829258834, + 325.2360430598285, + 20.490198155657385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 2986.2923067145302, + 323.7360430598285, + 20.490198155657385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 2983.694230503177, + 322.2360430598285, + 20.490198155657385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 2981.096154291824, + 320.7360430598285, + 20.490198155657385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 2978.498078080471, + 319.2360430598285, + 20.490198155657385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 2975.9000018691177, + 317.7360430598285, + 20.490198155657385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 2973.3019256577645, + 316.2360430598285, + 20.490198155657385 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 2973.3019256577645, + 316.2360430598285, + 20.490198155657385 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535897647 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 2970.3019256577645, + 316.2360430598285, + 20.490198155657385 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 2967.3019256577645, + 316.2360430598285, + 20.490198155657385 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 2967.3019256577645, + 316.2360430598285, + 20.490198155657385 + ], + "type": "turn left", + "value": 30, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 2967.3019256577645, + 316.2360430598285, + 20.490198155657385 + ], + "type": "go straight", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 2965.8019256577645, + 313.6379668484752, + 20.490198155657385 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 2965.8019256577645, + 313.6379668484752, + 20.490198155657385 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 2965.8019256577645, + 310.6379668484752, + 20.490198155657385 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 2965.8019256577645, + 307.6379668484752, + 20.490198155657385 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 2965.8019256577645, + 304.6379668484752, + 20.490198155657385 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 2965.8019256577645, + 301.6379668484752, + 20.490198155657385 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 2965.8019256577645, + 298.6379668484752, + 20.490198155657385 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 2965.8019256577645, + 295.6379668484752, + 20.490198155657385 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 2965.8019256577645, + 292.6379668484752, + 20.490198155657385 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 2965.8019256577645, + 289.6379668484752, + 20.490198155657385 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 2965.8019256577645, + 289.6379668484752, + 20.490198155657385 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 2967.3019256577645, + 287.03989063712186, + 20.490198155657385 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 2968.8019256577645, + 284.44181442576854, + 20.490198155657385 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 2968.8019256577645, + 284.44181442576854, + 20.490198155657385 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 2968.8019256577645, + 281.44181442576854, + 20.490198155657385 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 2968.8019256577645, + 278.44181442576854, + 20.490198155657385 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 2968.8019256577645, + 275.44181442576854, + 20.490198155657385 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 2968.8019256577645, + 272.44181442576854, + 20.490198155657385 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2956.0, + 256.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_9-40-48_437180529/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_9-40-48_437180529/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a7fef7827aab3ca99366356b1800e2ca6ecc1815 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_9-40-48_437180529/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4091.095818619991, + -351.37694292017125, + 33.60177425794886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4092.595818619991, + -353.97501913152456, + 33.60177425794886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4094.095818619991, + -356.5730953428779, + 33.60177425794886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4095.595818619991, + -359.1711715542312, + 33.60177425794886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4097.095818619991, + -361.7692477655845, + 33.60177425794886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511964664 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4098.595818619991, + -364.3673239769378, + 33.60177425794886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4100.095818619991, + -366.96540018829114, + 33.60177425794886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4101.595818619991, + -369.56347639964446, + 33.60177425794886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4103.095818619991, + -372.1615526109978, + 33.60177425794886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4104.595818619991, + -374.7596288223511, + 33.60177425794886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4106.095818619991, + -377.3577050337044, + 33.60177425794886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4107.595818619991, + -379.9557812450577, + 33.60177425794886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4109.095818619991, + -382.55385745641104, + 33.60177425794886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4110.595818619991, + -385.15193366776435, + 33.60177425794886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4112.095818619991, + -387.75000987911767, + 33.60177425794886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4113.595818619991, + -390.348086090471, + 33.60177425794886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 4115.095818619991, + -392.9461623018243, + 33.60177425794886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 4116.595818619991, + -395.5442385131776, + 33.60177425794886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 4118.095818619991, + -398.14231472453093, + 33.60177425794886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 4119.595818619991, + -400.74039093588425, + 33.60177425794886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 4121.095818619991, + -403.33846714723757, + 33.60177425794886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 4122.595818619991, + -405.9365433585909, + 33.60177425794886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 4124.095818619991, + -408.5346195699442, + 33.60177425794886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 4125.595818619991, + -411.1326957812975, + 33.60177425794886 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 4125.595818619991, + -411.1326957812975, + 33.60177425794886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 4125.595818619991, + -414.1326957812975, + 33.60177425794886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 4125.595818619991, + -417.1326957812975, + 33.60177425794886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 4125.595818619991, + -420.1326957812975, + 33.60177425794886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 4125.595818619991, + -423.1326957812975, + 33.60177425794886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 4125.595818619991, + -426.1326957812975, + 33.60177425794886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 4125.595818619991, + -429.1326957812975, + 33.60177425794886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 4125.595818619991, + -432.1326957812975, + 33.60177425794886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 4125.595818619991, + -435.1326957812975, + 33.60177425794886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 4125.595818619991, + -438.1326957812975, + 33.60177425794886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 4125.595818619991, + -441.1326957812975, + 33.60177425794886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 4125.595818619991, + -444.1326957812975, + 33.60177425794886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 4125.595818619991, + -447.1326957812975, + 33.60177425794886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 4125.595818619991, + -450.1326957812975, + 33.60177425794886 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 4125.595818619991, + -450.1326957812975, + 33.60177425794886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 4127.095818619991, + -452.73077199265083, + 33.60177425794886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 4128.595818619991, + -455.32884820400415, + 33.60177425794886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 4130.095818619991, + -457.92692441535746, + 33.60177425794886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 4131.595818619991, + -460.5250006267108, + 33.60177425794886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 4133.095818619991, + -463.1230768380641, + 33.60177425794886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 4134.595818619991, + -465.7211530494174, + 33.60177425794886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 4136.095818619991, + -468.3192292607707, + 33.60177425794886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 4137.595818619991, + -470.91730547212404, + 33.60177425794886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 4139.095818619991, + -473.51538168347736, + 33.60177425794886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 4140.595818619991, + -476.1134578948307, + 33.60177425794886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 4142.095818619991, + -478.711534106184, + 33.60177425794886 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4148.0, + -492.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_9-46-5_1803602255/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_9-46-5_1803602255/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..97039628257396b7df5a95603832204132f78ee0 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_9-46-5_1803602255/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3565.9572128681175, + 878.0920718708537, + 31.756703103635157 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3567.4572128681175, + 880.6901480822071, + 31.756703103635157 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3568.9572128681175, + 883.2882242935605, + 31.756703103635157 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3570.4572128681175, + 885.8863005049138, + 31.756703103635157 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3571.9572128681175, + 888.4843767162672, + 31.756703103635157 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3573.4572128681175, + 891.0824529276206, + 31.756703103635157 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3574.9572128681175, + 893.680529138974, + 31.756703103635157 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3576.4572128681175, + 896.2786053503273, + 31.756703103635157 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 3577.9572128681175, + 898.8766815616807, + 31.756703103635157 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 3579.4572128681175, + 901.4747577730341, + 31.756703103635157 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 3580.9572128681175, + 904.0728339843874, + 31.756703103635157 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 3582.4572128681175, + 906.6709101957408, + 31.756703103635157 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 3583.9572128681175, + 909.2689864070942, + 31.756703103635157 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 3585.4572128681175, + 911.8670626184476, + 31.756703103635157 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 3586.9572128681175, + 914.4651388298009, + 31.756703103635157 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 3588.4572128681175, + 917.0632150411543, + 31.756703103635157 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 3589.9572128681175, + 919.6612912525077, + 31.756703103635157 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 3591.4572128681175, + 922.259367463861, + 31.756703103635157 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 3592.9572128681175, + 924.8574436752144, + 31.756703103635157 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 3594.4572128681175, + 927.4555198865678, + 31.756703103635157 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 3595.9572128681175, + 930.0535960979212, + 31.756703103635157 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 3597.4572128681175, + 932.6516723092745, + 31.756703103635157 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 3598.9572128681175, + 935.2497485206279, + 31.756703103635157 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 3600.4572128681175, + 937.8478247319813, + 31.756703103635157 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 3601.9572128681175, + 940.4459009433347, + 31.756703103635157 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 3603.4572128681175, + 943.043977154688, + 31.756703103635157 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 3604.9572128681175, + 945.6420533660414, + 31.756703103635157 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 3606.4572128681175, + 948.2401295773948, + 31.756703103635157 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 3607.9572128681175, + 950.8382057887482, + 31.756703103635157 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 3609.4572128681175, + 953.4362820001015, + 31.756703103635157 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 3610.9572128681175, + 956.0343582114549, + 31.756703103635157 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 3612.4572128681175, + 958.6324344228083, + 31.756703103635157 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 3613.9572128681175, + 961.2305106341616, + 31.756703103635157 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 3615.4572128681175, + 963.828586845515, + 31.756703103635157 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 3616.9572128681175, + 966.4266630568684, + 31.756703103635157 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 3616.9572128681175, + 966.4266630568684, + 31.756703103635157 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 3619.5552890794706, + 967.9266630568684, + 31.756703103635157 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 3622.153365290824, + 969.4266630568684, + 31.756703103635157 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 3624.751441502177, + 970.9266630568684, + 31.756703103635157 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 3627.34951771353, + 972.4266630568684, + 31.756703103635157 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 3629.947593924883, + 973.9266630568684, + 31.756703103635157 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 3632.5456701362364, + 975.4266630568684, + 31.756703103635157 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 3635.1437463475895, + 976.9266630568684, + 31.756703103635157 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 3637.7418225589427, + 978.4266630568684, + 31.756703103635157 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 3640.339898770296, + 979.9266630568684, + 31.756703103635157 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 3642.937974981649, + 981.4266630568684, + 31.756703103635157 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 3645.536051193002, + 982.9266630568684, + 31.756703103635157 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755983272 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3668.0, + 1016.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_9-49-28_992277052/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_9-49-28_992277052/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fd4fc89840de807b2aad8ea9908f393b2e740904 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_9-49-28_992277052/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3891.1691850057196, + 313.7572577547272, + 37.402159184857624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3891.1691850057196, + 316.7572577547272, + 37.402159184857624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3891.1691850057196, + 319.7572577547272, + 37.402159184857624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3891.1691850057196, + 322.7572577547272, + 37.402159184857624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3891.1691850057196, + 325.7572577547272, + 37.402159184857624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3891.1691850057196, + 328.7572577547272, + 37.402159184857624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3891.1691850057196, + 331.7572577547272, + 37.402159184857624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3891.1691850057196, + 334.7572577547272, + 37.402159184857624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 3891.1691850057196, + 337.7572577547272, + 37.402159184857624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 3891.1691850057196, + 340.7572577547272, + 37.402159184857624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 3891.1691850057196, + 343.7572577547272, + 37.402159184857624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 3891.1691850057196, + 346.7572577547272, + 37.402159184857624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 3891.1691850057196, + 349.7572577547272, + 37.402159184857624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 3891.1691850057196, + 352.7572577547272, + 37.402159184857624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 3891.1691850057196, + 355.7572577547272, + 37.402159184857624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 3891.1691850057196, + 358.7572577547272, + 37.402159184857624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 3891.1691850057196, + 361.7572577547272, + 37.402159184857624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 3891.1691850057196, + 364.7572577547272, + 37.402159184857624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 3891.1691850057196, + 367.7572577547272, + 37.402159184857624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 3891.1691850057196, + 370.7572577547272, + 37.402159184857624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 3891.1691850057196, + 373.7572577547272, + 37.402159184857624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 3891.1691850057196, + 376.7572577547272, + 37.402159184857624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 3891.1691850057196, + 379.7572577547272, + 37.402159184857624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 3891.1691850057196, + 382.7572577547272, + 37.402159184857624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 3891.1691850057196, + 385.7572577547272, + 37.402159184857624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 3891.1691850057196, + 388.7572577547272, + 37.402159184857624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 3891.1691850057196, + 391.7572577547272, + 37.402159184857624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 3891.1691850057196, + 394.7572577547272, + 37.402159184857624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 3891.1691850057196, + 397.7572577547272, + 37.402159184857624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 3891.1691850057196, + 400.7572577547272, + 37.402159184857624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 3891.1691850057196, + 403.7572577547272, + 37.402159184857624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 3891.1691850057196, + 406.7572577547272, + 37.402159184857624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 3891.1691850057196, + 409.7572577547272, + 37.402159184857624 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 3891.1691850057196, + 409.7572577547272, + 37.402159184857624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 3892.6691850057196, + 412.35533396608054, + 37.402159184857624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 3894.1691850057196, + 414.95341017743385, + 37.402159184857624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 3895.6691850057196, + 417.55148638878717, + 37.402159184857624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 3897.1691850057196, + 420.1495626001405, + 37.402159184857624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 3898.6691850057196, + 422.7476388114938, + 37.402159184857624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 3900.1691850057196, + 425.3457150228471, + 37.402159184857624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 3901.6691850057196, + 427.94379123420043, + 37.402159184857624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 3903.1691850057196, + 430.54186744555375, + 37.402159184857624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 3904.6691850057196, + 433.13994365690706, + 37.402159184857624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 3906.1691850057196, + 435.7380198682604, + 37.402159184857624 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3912.0, + 480.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_9-5-6_1853101996/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_9-5-6_1853101996/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2b25c7d059ab9cfbb77549c47fc195a9f4e8c4ff --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_9-5-6_1853101996/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1119.9559344126976, + 2066.958339625992, + 19.030197723014957 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1116.9559344126976, + 2066.958339625992, + 19.030197723014957 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1113.9559344126976, + 2066.958339625992, + 19.030197723014957 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1110.9559344126976, + 2066.958339625992, + 19.030197723014957 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1107.9559344126976, + 2066.958339625992, + 19.030197723014957 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1104.9559344126976, + 2066.958339625992, + 19.030197723014957 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1101.9559344126976, + 2066.958339625992, + 19.030197723014957 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1098.9559344126976, + 2066.958339625992, + 19.030197723014957 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1095.9559344126976, + 2066.958339625992, + 19.030197723014957 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1092.9559344126976, + 2066.958339625992, + 19.030197723014957 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1089.9559344126976, + 2066.958339625992, + 19.030197723014957 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1086.9559344126976, + 2066.958339625992, + 19.030197723014957 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1083.9559344126976, + 2066.958339625992, + 19.030197723014957 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1080.9559344126976, + 2066.958339625992, + 19.030197723014957 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1077.9559344126976, + 2066.958339625992, + 19.030197723014957 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1074.9559344126976, + 2066.958339625992, + 19.030197723014957 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1071.9559344126976, + 2066.958339625992, + 19.030197723014957 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1068.9559344126976, + 2066.958339625992, + 19.030197723014957 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1065.9559344126976, + 2066.958339625992, + 19.030197723014957 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1062.9559344126976, + 2066.958339625992, + 19.030197723014957 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1059.9559344126976, + 2066.958339625992, + 19.030197723014957 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1056.9559344126976, + 2066.958339625992, + 19.030197723014957 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1053.9559344126976, + 2066.958339625992, + 19.030197723014957 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1050.9559344126976, + 2066.958339625992, + 19.030197723014957 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1047.9559344126976, + 2066.958339625992, + 19.030197723014957 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1044.9559344126976, + 2066.958339625992, + 19.030197723014957 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1041.9559344126976, + 2066.958339625992, + 19.030197723014957 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1038.9559344126976, + 2066.958339625992, + 19.030197723014957 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1035.9559344126976, + 2066.958339625992, + 19.030197723014957 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1032.9559344126976, + 2066.958339625992, + 19.030197723014957 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1029.9559344126976, + 2066.958339625992, + 19.030197723014957 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1026.9559344126976, + 2066.958339625992, + 19.030197723014957 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1023.9559344126976, + 2066.958339625992, + 19.030197723014957 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1020.9559344126976, + 2066.958339625992, + 19.030197723014957 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1017.9559344126976, + 2066.958339625992, + 19.030197723014957 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1014.9559344126976, + 2066.958339625992, + 19.030197723014957 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1011.9559344126976, + 2066.958339625992, + 19.030197723014957 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1008.9559344126976, + 2066.958339625992, + 19.030197723014957 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1005.9559344126976, + 2066.958339625992, + 19.030197723014957 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1002.9559344126976, + 2066.958339625992, + 19.030197723014957 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -999.9559344126976, + 2066.958339625992, + 19.030197723014957 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -996.9559344126976, + 2066.958339625992, + 19.030197723014957 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -993.9559344126976, + 2066.958339625992, + 19.030197723014957 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -990.9559344126976, + 2066.958339625992, + 19.030197723014957 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -987.9559344126976, + 2066.958339625992, + 19.030197723014957 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -984.9559344126976, + 2066.958339625992, + 19.030197723014957 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -981.9559344126976, + 2066.958339625992, + 19.030197723014957 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -978.9559344126976, + 2066.958339625992, + 19.030197723014957 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -975.9559344126976, + 2066.958339625992, + 19.030197723014957 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -975.9559344126976, + 2066.958339625992, + 19.030197723014957 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -973.3578582013442, + 2065.458339625992, + 19.030197723014957 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -940.0, + 2064.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_9-52-50_2138078721/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_9-52-50_2138078721/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3256db75abf621509d40a91cfc148d3d9270e4d3 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_9-52-50_2138078721/pose.jsonl @@ -0,0 +1,444 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4483.862035023618, + 1046.612132589909, + 24.561418940445698 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4483.862035023618, + 1043.612132589909, + 24.561418940445698 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4483.862035023618, + 1040.612132589909, + 24.561418940445698 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4483.862035023618, + 1037.612132589909, + 24.561418940445698 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4483.862035023618, + 1034.612132589909, + 24.561418940445698 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4483.862035023618, + 1031.612132589909, + 24.561418940445698 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4483.862035023618, + 1028.612132589909, + 24.561418940445698 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4483.862035023618, + 1025.612132589909, + 24.561418940445698 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4483.862035023618, + 1022.6121325899089, + 24.561418940445698 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4483.862035023618, + 1019.6121325899089, + 24.561418940445698 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4483.862035023618, + 1016.6121325899089, + 24.561418940445698 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4483.862035023618, + 1013.6121325899089, + 24.561418940445698 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4483.862035023618, + 1010.6121325899089, + 24.561418940445698 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4483.862035023618, + 1007.6121325899089, + 24.561418940445698 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4483.862035023618, + 1004.6121325899089, + 24.561418940445698 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4483.862035023618, + 1001.6121325899089, + 24.561418940445698 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 4483.862035023618, + 998.6121325899089, + 24.561418940445698 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 4483.862035023618, + 995.6121325899089, + 24.561418940445698 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 4483.862035023618, + 992.6121325899089, + 24.561418940445698 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 4483.862035023618, + 989.6121325899089, + 24.561418940445698 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 4483.862035023618, + 986.6121325899089, + 24.561418940445698 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 4483.862035023618, + 983.6121325899089, + 24.561418940445698 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 4483.862035023618, + 980.6121325899089, + 24.561418940445698 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 4483.862035023618, + 977.6121325899089, + 24.561418940445698 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 4483.862035023618, + 974.6121325899089, + 24.561418940445698 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 4483.862035023618, + 971.6121325899089, + 24.561418940445698 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 4483.862035023618, + 968.6121325899089, + 24.561418940445698 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 4483.862035023618, + 965.6121325899089, + 24.561418940445698 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 4483.862035023618, + 962.6121325899089, + 24.561418940445698 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 4483.862035023618, + 962.6121325899089, + 24.561418940445698 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 4485.362035023618, + 960.0140563785556, + 24.561418940445698 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 4486.862035023618, + 957.4159801672022, + 24.561418940445698 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 4488.362035023618, + 954.8179039558488, + 24.561418940445698 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4492.0, + 896.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_9-53-36_1902736997/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_9-53-36_1902736997/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0f4ced7befa18dbcadef780719b0badc0289f10d --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_9-53-36_1902736997/pose.jsonl @@ -0,0 +1,379 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1264.130473093809, + -2637.774381645433, + 28.63496994984096 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1267.130473093809, + -2637.774381645433, + 28.63496994984096 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1270.130473093809, + -2637.774381645433, + 28.63496994984096 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1273.130473093809, + -2637.774381645433, + 28.63496994984096 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1276.130473093809, + -2637.774381645433, + 28.63496994984096 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1279.130473093809, + -2637.774381645433, + 28.63496994984096 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1279.130473093809, + -2637.774381645433, + 28.63496994984096 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1281.7285493051625, + -2639.274381645433, + 28.63496994984096 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1284.3266255165158, + -2640.774381645433, + 28.63496994984096 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1286.9247017278692, + -2642.274381645433, + 28.63496994984096 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1289.5227779392226, + -2643.774381645433, + 28.63496994984096 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1292.120854150576, + -2645.274381645433, + 28.63496994984096 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1294.7189303619293, + -2646.774381645433, + 28.63496994984096 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1297.3170065732827, + -2648.274381645433, + 28.63496994984096 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1299.915082784636, + -2649.774381645433, + 28.63496994984096 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1302.5131589959894, + -2651.274381645433, + 28.63496994984096 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1302.5131589959894, + -2651.274381645433, + 28.63496994984096 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1305.5131589959894, + -2651.274381645433, + 28.63496994984096 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1308.5131589959894, + -2651.274381645433, + 28.63496994984096 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1311.5131589959894, + -2651.274381645433, + 28.63496994984096 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1314.5131589959894, + -2651.274381645433, + 28.63496994984096 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1317.5131589959894, + -2651.274381645433, + 28.63496994984096 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1320.5131589959894, + -2651.274381645433, + 28.63496994984096 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1323.5131589959894, + -2651.274381645433, + 28.63496994984096 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1326.5131589959894, + -2651.274381645433, + 28.63496994984096 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1329.5131589959894, + -2651.274381645433, + 28.63496994984096 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1332.5131589959894, + -2651.274381645433, + 28.63496994984096 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1335.5131589959894, + -2651.274381645433, + 28.63496994984096 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1428.0, + -2672.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_9-55-53_104665169/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_9-55-53_104665169/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4133347599456ff1aa5c12979537712c20d1f650 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_9-55-53_104665169/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1778.5302990228702, + -1613.2495638730384, + 20.088779525640554 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1775.9322228115168, + -1614.7495638730384, + 20.088779525640554 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1773.3341466001634, + -1616.2495638730384, + 20.088779525640554 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1770.73607038881, + -1617.7495638730384, + 20.088779525640554 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1768.1379941774567, + -1619.2495638730384, + 20.088779525640554 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1765.5399179661033, + -1620.7495638730384, + 20.088779525640554 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1762.94184175475, + -1622.2495638730384, + 20.088779525640554 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1760.3437655433966, + -1623.7495638730384, + 20.088779525640554 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1757.7456893320432, + -1625.2495638730384, + 20.088779525640554 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1755.1476131206898, + -1626.7495638730384, + 20.088779525640554 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1752.5495369093364, + -1628.2495638730384, + 20.088779525640554 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1749.951460697983, + -1629.7495638730384, + 20.088779525640554 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1747.3533844866297, + -1631.2495638730384, + 20.088779525640554 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1744.7553082752763, + -1632.7495638730384, + 20.088779525640554 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1742.157232063923, + -1634.2495638730384, + 20.088779525640554 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1739.5591558525696, + -1635.7495638730384, + 20.088779525640554 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1736.9610796412162, + -1637.2495638730384, + 20.088779525640554 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1734.3630034298628, + -1638.7495638730384, + 20.088779525640554 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1731.7649272185095, + -1640.2495638730384, + 20.088779525640554 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1729.166851007156, + -1641.7495638730384, + 20.088779525640554 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1726.5687747958027, + -1643.2495638730384, + 20.088779525640554 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1723.9706985844493, + -1644.7495638730384, + 20.088779525640554 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1721.372622373096, + -1646.2495638730384, + 20.088779525640554 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1718.7745461617426, + -1647.7495638730384, + 20.088779525640554 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1716.1764699503892, + -1649.2495638730384, + 20.088779525640554 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1713.5783937390358, + -1650.7495638730384, + 20.088779525640554 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1710.9803175276825, + -1652.2495638730384, + 20.088779525640554 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1708.382241316329, + -1653.7495638730384, + 20.088779525640554 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1705.7841651049757, + -1655.2495638730384, + 20.088779525640554 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1703.1860888936224, + -1656.7495638730384, + 20.088779525640554 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1700.588012682269, + -1658.2495638730384, + 20.088779525640554 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1700.588012682269, + -1658.2495638730384, + 20.088779525640554 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1699.088012682269, + -1660.8476400843917, + 20.088779525640554 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1697.588012682269, + -1663.4457162957451, + 20.088779525640554 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1696.088012682269, + -1666.0437925070985, + 20.088779525640554 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1694.588012682269, + -1668.6418687184519, + 20.088779525640554 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1693.088012682269, + -1671.2399449298052, + 20.088779525640554 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1691.588012682269, + -1673.8380211411586, + 20.088779525640554 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1690.088012682269, + -1676.436097352512, + 20.088779525640554 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1688.588012682269, + -1679.0341735638654, + 20.088779525640554 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1652.0, + -1704.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_long/2025-1-2_9-57-2_582972798/pose.jsonl b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_9-57-2_582972798/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ba93c5e10ce8d558d731112fc06ca0279a5bee9c --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_long/2025-1-2_9-57-2_582972798/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2055.202058681282, + -2832.7056249573798, + 37.22560222738719 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2053.702058681282, + -2835.303701168733, + 37.22560222738719 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2053.702058681282, + -2835.303701168733, + 37.22560222738719 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982706 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2051.1039824699287, + -2836.803701168733, + 37.22560222738719 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2048.5059062585756, + -2838.303701168733, + 37.22560222738719 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2048.5059062585756, + -2838.303701168733, + 37.22560222738719 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196626 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2047.0059062585756, + -2840.901777380086, + 37.22560222738719 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2045.5059062585756, + -2843.499853591439, + 37.22560222738719 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2044.0059062585756, + -2846.0979298027924, + 37.22560222738719 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2042.5059062585756, + -2848.6960060141455, + 37.22560222738719 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2041.0059062585756, + -2851.2940822254986, + 37.22560222738719 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2039.5059062585756, + -2853.892158436852, + 37.22560222738719 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2038.0059062585756, + -2856.490234648205, + 37.22560222738719 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2036.5059062585756, + -2859.088310859558, + 37.22560222738719 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2035.0059062585756, + -2861.686387070911, + 37.22560222738719 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2033.5059062585756, + -2864.2844632822644, + 37.22560222738719 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2032.0059062585756, + -2866.8825394936175, + 37.22560222738719 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2030.5059062585756, + -2869.4806157049707, + 37.22560222738719 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2030.5059062585756, + -2869.4806157049707, + 37.22560222738719 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948681 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2030.5059062585756, + -2872.4806157049707, + 37.22560222738719 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2030.5059062585756, + -2875.4806157049707, + 37.22560222738719 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2030.5059062585756, + -2878.4806157049707, + 37.22560222738719 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2030.5059062585756, + -2881.4806157049707, + 37.22560222738719 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2030.5059062585756, + -2884.4806157049707, + 37.22560222738719 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2030.5059062585756, + -2887.4806157049707, + 37.22560222738719 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2030.5059062585756, + -2890.4806157049707, + 37.22560222738719 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2030.5059062585756, + -2893.4806157049707, + 37.22560222738719 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2030.5059062585756, + -2896.4806157049707, + 37.22560222738719 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2030.5059062585756, + -2899.4806157049707, + 37.22560222738719 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2030.5059062585756, + -2902.4806157049707, + 37.22560222738719 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2030.5059062585756, + -2905.4806157049707, + 37.22560222738719 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2030.5059062585756, + -2908.4806157049707, + 37.22560222738719 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2030.5059062585756, + -2911.4806157049707, + 37.22560222738719 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2030.5059062585756, + -2914.4806157049707, + 37.22560222738719 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2030.5059062585756, + -2917.4806157049707, + 37.22560222738719 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -2030.5059062585756, + -2920.4806157049707, + 37.22560222738719 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -2030.5059062585756, + -2923.4806157049707, + 37.22560222738719 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -2030.5059062585756, + -2926.4806157049707, + 37.22560222738719 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -2030.5059062585756, + -2929.4806157049707, + 37.22560222738719 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -2030.5059062585756, + -2932.4806157049707, + 37.22560222738719 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -2030.5059062585756, + -2935.4806157049707, + 37.22560222738719 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -2030.5059062585756, + -2938.4806157049707, + 37.22560222738719 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -2030.5059062585756, + -2941.4806157049707, + 37.22560222738719 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -2030.5059062585756, + -2944.4806157049707, + 37.22560222738719 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -2030.5059062585756, + -2947.4806157049707, + 37.22560222738719 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2016.0, + -3008.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_21-0-57_1655027572/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_21-0-57_1655027572/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..627185c24544e7ebb285658dd94c13a3cc107951 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_21-0-57_1655027572/pose.jsonl @@ -0,0 +1,210 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1988.9107154594726, + 994.0626931208952, + 61.88599274082872 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1986.3126392481192, + 992.5626931208952, + 61.88599274082872 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1983.7145630367659, + 991.0626931208952, + 61.88599274082872 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1981.1164868254125, + 989.5626931208952, + 61.88599274082872 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1978.5184106140591, + 988.0626931208952, + 61.88599274082872 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1975.9203344027057, + 986.5626931208952, + 61.88599274082872 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1973.3222581913524, + 985.0626931208952, + 61.88599274082872 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1970.724181979999, + 983.5626931208952, + 61.88599274082872 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1968.1261057686456, + 982.0626931208952, + 61.88599274082872 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1965.5280295572923, + 980.5626931208952, + 61.88599274082872 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1962.9299533459389, + 979.0626931208952, + 61.88599274082872 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1960.3318771345855, + 977.5626931208952, + 61.88599274082872 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1960.3318771345855, + 977.5626931208952, + 61.88599274082872 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1958.8318771345855, + 974.964616909542, + 61.88599274082872 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1957.3318771345855, + 972.3665406981886, + 61.88599274082872 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965883 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1916.0, + 940.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_21-13-21_1554430207/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_21-13-21_1554430207/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f71e95452f87fd8fa235bba06f9ed90e4774fa73 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_21-13-21_1554430207/pose.jsonl @@ -0,0 +1,93 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1910.0938229771975, + -2112.0167857969786, + 66.18948834329406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1908.5938229771975, + -2114.614862008332, + 66.18948834329406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1907.0938229771975, + -2117.212938219685, + 66.18948834329406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1905.5938229771975, + -2119.811014431038, + 66.18948834329406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1904.0938229771975, + -2122.409090642391, + 66.18948834329406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1902.5938229771975, + -2125.0071668537444, + 66.18948834329406 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965694 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1876.0, + -2172.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_21-14-50_2139842053/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_21-14-50_2139842053/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..eb03a721a416d0381017bcb0877552ec4bf4e325 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_21-14-50_2139842053/pose.jsonl @@ -0,0 +1,236 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 228.28629071128017, + -2327.554312957164, + 62.41165815941406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 229.78629071128017, + -2330.152389168517, + 62.41165815941406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 231.28629071128017, + -2332.75046537987, + 62.41165815941406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 232.78629071128017, + -2335.3485415912232, + 62.41165815941406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 234.28629071128017, + -2337.9466178025764, + 62.41165815941406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 235.78629071128017, + -2340.5446940139295, + 62.41165815941406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 237.28629071128017, + -2343.1427702252827, + 62.41165815941406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 238.78629071128017, + -2345.740846436636, + 62.41165815941406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 240.28629071128017, + -2348.338922647989, + 62.41165815941406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 241.78629071128017, + -2350.936998859342, + 62.41165815941406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 243.28629071128017, + -2353.5350750706953, + 62.41165815941406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 244.78629071128017, + -2356.1331512820484, + 62.41165815941406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 246.28629071128017, + -2358.7312274934015, + 62.41165815941406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 247.78629071128017, + -2361.3293037047547, + 62.41165815941406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 249.28629071128017, + -2363.927379916108, + 62.41165815941406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 250.78629071128017, + -2366.525456127461, + 62.41165815941406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 252.28629071128017, + -2369.123532338814, + 62.41165815941406 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965694 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 260.0, + -2380.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_21-18-39_1417988751/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_21-18-39_1417988751/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dc2b9c9cb9982db0374e7bf4aac104f8ac18d8df --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_21-18-39_1417988751/pose.jsonl @@ -0,0 +1,288 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -783.7617832099195, + -2078.820965930779, + 49.15171029586246 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -783.7617832099195, + -2075.820965930779, + 49.15171029586246 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -783.7617832099195, + -2072.820965930779, + 49.15171029586246 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -783.7617832099195, + -2069.820965930779, + 49.15171029586246 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -783.7617832099195, + -2066.820965930779, + 49.15171029586246 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -783.7617832099195, + -2063.820965930779, + 49.15171029586246 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -783.7617832099195, + -2060.820965930779, + 49.15171029586246 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -783.7617832099195, + -2057.820965930779, + 49.15171029586246 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -783.7617832099195, + -2054.820965930779, + 49.15171029586246 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -783.7617832099195, + -2054.820965930779, + 49.15171029586246 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -782.2617832099195, + -2052.222889719426, + 49.15171029586246 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -780.7617832099195, + -2049.6248135080727, + 49.15171029586246 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -779.2617832099195, + -2047.0267372967194, + 49.15171029586246 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -777.7617832099195, + -2044.428661085366, + 49.15171029586246 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -776.2617832099195, + -2041.8305848740126, + 49.15171029586246 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -774.7617832099195, + -2039.2325086626593, + 49.15171029586246 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -773.2617832099195, + -2036.6344324513059, + 49.15171029586246 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -771.7617832099195, + -2034.0363562399525, + 49.15171029586246 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -770.2617832099195, + -2031.4382800285991, + 49.15171029586246 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -768.7617832099195, + -2028.8402038172458, + 49.15171029586246 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -767.2617832099195, + -2026.2421276058924, + 49.15171029586246 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -764.0, + -2004.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_21-19-12_202029501/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_21-19-12_202029501/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4d876882013abaf4ca4d447353ebd46edc224572 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_21-19-12_202029501/pose.jsonl @@ -0,0 +1,249 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -586.9718966571809, + -282.55723530779363, + 68.41606710979664 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -586.9718966571809, + -279.55723530779363, + 68.41606710979664 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -586.9718966571809, + -276.55723530779363, + 68.41606710979664 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -586.9718966571809, + -273.55723530779363, + 68.41606710979664 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -586.9718966571809, + -270.55723530779363, + 68.41606710979664 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -586.9718966571809, + -267.55723530779363, + 68.41606710979664 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -586.9718966571809, + -264.55723530779363, + 68.41606710979664 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -586.9718966571809, + -261.55723530779363, + 68.41606710979664 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -586.9718966571809, + -258.55723530779363, + 68.41606710979664 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -586.9718966571809, + -258.55723530779363, + 68.41606710979664 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -588.4718966571809, + -255.95915909644032, + 68.41606710979664 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -589.9718966571809, + -253.361082885087, + 68.41606710979664 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -591.4718966571809, + -250.76300667373368, + 68.41606710979664 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -592.9718966571809, + -248.16493046238037, + 68.41606710979664 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -594.4718966571809, + -245.56685425102705, + 68.41606710979664 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -595.9718966571809, + -242.96877803967374, + 68.41606710979664 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -597.4718966571809, + -240.37070182832042, + 68.41606710979664 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -598.9718966571809, + -237.7726256169671, + 68.41606710979664 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -604.0, + -216.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_21-20-17_320401392/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_21-20-17_320401392/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3595193db73c81c845430f2c5c5ddf894ce468fc --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_21-20-17_320401392/pose.jsonl @@ -0,0 +1,340 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 810.5654337603866, + 462.23356206045963, + 67.54724358477716 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 809.0654337603866, + 459.6354858491063, + 67.54724358477716 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 807.5654337603866, + 457.037409637753, + 67.54724358477716 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 806.0654337603866, + 454.4393334263997, + 67.54724358477716 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 804.5654337603866, + 451.84125721504637, + 67.54724358477716 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 803.0654337603866, + 449.24318100369305, + 67.54724358477716 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 801.5654337603866, + 446.64510479233974, + 67.54724358477716 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 800.0654337603866, + 444.0470285809864, + 67.54724358477716 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 798.5654337603866, + 441.4489523696331, + 67.54724358477716 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 797.0654337603866, + 438.8508761582798, + 67.54724358477716 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 795.5654337603866, + 436.2527999469265, + 67.54724358477716 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 794.0654337603866, + 433.65472373557316, + 67.54724358477716 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 792.5654337603866, + 431.05664752421984, + 67.54724358477716 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 791.0654337603866, + 428.4585713128665, + 67.54724358477716 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 789.5654337603866, + 425.8604951015132, + 67.54724358477716 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 788.0654337603866, + 423.2624188901599, + 67.54724358477716 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 786.5654337603866, + 420.6643426788066, + 67.54724358477716 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 785.0654337603866, + 418.06626646745326, + 67.54724358477716 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 783.5654337603866, + 415.46819025609994, + 67.54724358477716 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 782.0654337603866, + 412.87011404474663, + 67.54724358477716 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 780.5654337603866, + 410.2720378333933, + 67.54724358477716 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 779.0654337603866, + 407.67396162204, + 67.54724358477716 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 779.0654337603866, + 407.67396162204, + 67.54724358477716 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 779.0654337603866, + 404.67396162204, + 67.54724358477716 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 779.0654337603866, + 401.67396162204, + 67.54724358477716 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 772.0, + 388.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_21-22-21_1617869388/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_21-22-21_1617869388/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2e4813884f82ca9753221ed6a0d38bb685506ef6 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_21-22-21_1617869388/pose.jsonl @@ -0,0 +1,236 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1065.5513126423834, + -236.04447996148565, + 43.232431377313105 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1064.0513126423834, + -233.44640375013233, + 43.232431377313105 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1062.5513126423834, + -230.84832753877902, + 43.232431377313105 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1061.0513126423834, + -228.2502513274257, + 43.232431377313105 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1059.5513126423834, + -225.65217511607239, + 43.232431377313105 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1058.0513126423834, + -223.05409890471907, + 43.232431377313105 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1056.5513126423834, + -220.45602269336575, + 43.232431377313105 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1055.0513126423834, + -217.85794648201244, + 43.232431377313105 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1053.5513126423834, + -215.25987027065912, + 43.232431377313105 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1052.0513126423834, + -212.6617940593058, + 43.232431377313105 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1050.5513126423834, + -210.0637178479525, + 43.232431377313105 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1049.0513126423834, + -207.46564163659917, + 43.232431377313105 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1049.0513126423834, + -207.46564163659917, + 43.232431377313105 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1046.45323643103, + -205.96564163659917, + 43.232431377313105 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1043.8551602196767, + -204.46564163659917, + 43.232431377313105 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1041.2570840083233, + -202.96564163659917, + 43.232431377313105 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1038.65900779697, + -201.46564163659917, + 43.232431377313105 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1020.0, + -176.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_21-27-27_1476967137/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_21-27-27_1476967137/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a643d256f1a0e42828e15187e85ce401c2c8863a --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_21-27-27_1476967137/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3735.031558559003, + -512.1184948607557, + 43.75541894265586 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3733.531558559003, + -509.5204186494024, + 43.75541894265586 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3732.031558559003, + -506.9223424380491, + 43.75541894265586 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3730.531558559003, + -504.3242662266958, + 43.75541894265586 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3729.031558559003, + -501.72619001534247, + 43.75541894265586 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3727.531558559003, + -499.12811380398915, + 43.75541894265586 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3726.031558559003, + -496.53003759263584, + 43.75541894265586 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3724.531558559003, + -493.9319613812825, + 43.75541894265586 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 3723.031558559003, + -491.3338851699292, + 43.75541894265586 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 3723.031558559003, + -491.3338851699292, + 43.75541894265586 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 3720.4334823476497, + -489.8338851699292, + 43.75541894265586 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 3717.8354061362966, + -488.3338851699292, + 43.75541894265586 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 3715.2373299249434, + -486.8338851699292, + 43.75541894265586 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 3712.6392537135903, + -485.3338851699292, + 43.75541894265586 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 3710.041177502237, + -483.8338851699292, + 43.75541894265586 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 3707.443101290884, + -482.3338851699292, + 43.75541894265586 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 3704.845025079531, + -480.8338851699292, + 43.75541894265586 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 3702.2469488681777, + -479.3338851699292, + 43.75541894265586 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 3699.6488726568246, + -477.8338851699292, + 43.75541894265586 + ], + "type": "turn right", + "value": 30, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 3699.6488726568246, + -477.8338851699292, + 43.75541894265586 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931673 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 3698.1488726568246, + -475.2358089585759, + 43.75541894265586 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 3696.6488726568246, + -472.63773274722257, + 43.75541894265586 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 3695.1488726568246, + -470.03965653586926, + 43.75541894265586 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3672.0, + -448.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_21-32-27_770361246/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_21-32-27_770361246/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..34663aea8670e7d3e9c5ad5d5e4344f388445211 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_21-32-27_770361246/pose.jsonl @@ -0,0 +1,171 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1098.8389152908126, + -629.1227569961399, + 64.84040288006037 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1101.8389152908126, + -629.1227569961399, + 64.84040288006037 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1104.8389152908126, + -629.1227569961399, + 64.84040288006037 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1107.8389152908126, + -629.1227569961399, + 64.84040288006037 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1110.8389152908126, + -629.1227569961399, + 64.84040288006037 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1113.8389152908126, + -629.1227569961399, + 64.84040288006037 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1116.8389152908126, + -629.1227569961399, + 64.84040288006037 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1119.8389152908126, + -629.1227569961399, + 64.84040288006037 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1122.8389152908126, + -629.1227569961399, + 64.84040288006037 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1122.8389152908126, + -629.1227569961399, + 64.84040288006037 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1125.436991502166, + -627.6227569961399, + 64.84040288006037 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1128.0350677135193, + -626.1227569961399, + 64.84040288006037 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1196.0, + -616.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_21-33-11_1451163042/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_21-33-11_1451163042/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..024276951e4d7fceed6753bdfac58594d4234808 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_21-33-11_1451163042/pose.jsonl @@ -0,0 +1,145 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 51.40276398986621, + -2035.201729730187, + 54.826608470141835 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 49.90276398986621, + -2032.6036535188337, + 54.826608470141835 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 48.40276398986621, + -2030.0055773074803, + 54.826608470141835 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 46.90276398986621, + -2027.407501096127, + 54.826608470141835 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 45.40276398986621, + -2024.8094248847735, + 54.826608470141835 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 43.90276398986621, + -2022.2113486734202, + 54.826608470141835 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 42.40276398986621, + -2019.6132724620668, + 54.826608470141835 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 42.40276398986621, + -2019.6132724620668, + 54.826608470141835 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 39.80468777851289, + -2018.1132724620668, + 54.826608470141835 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 37.20661156715958, + -2016.6132724620668, + 54.826608470141835 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 8.0, + -1984.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_21-33-31_1016499950/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_21-33-31_1016499950/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..665d6fc4b5f12f8a3e4935bb61fa8b8adb711ea9 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_21-33-31_1016499950/pose.jsonl @@ -0,0 +1,249 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1437.609461423652, + 301.89676563198634, + 49.04911462088828 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1436.109461423652, + 299.298689420633, + 49.04911462088828 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1434.609461423652, + 296.7006132092797, + 49.04911462088828 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1433.109461423652, + 294.1025369979264, + 49.04911462088828 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1431.609461423652, + 291.5044607865731, + 49.04911462088828 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1430.109461423652, + 288.90638457521976, + 49.04911462088828 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1428.609461423652, + 286.30830836386644, + 49.04911462088828 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1427.109461423652, + 283.71023215251313, + 49.04911462088828 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1425.609461423652, + 281.1121559411598, + 49.04911462088828 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1424.109461423652, + 278.5140797298065, + 49.04911462088828 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1422.609461423652, + 275.9160035184532, + 49.04911462088828 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1421.109461423652, + 273.31792730709986, + 49.04911462088828 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1419.609461423652, + 270.71985109574655, + 49.04911462088828 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1418.109461423652, + 268.12177488439323, + 49.04911462088828 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1416.609461423652, + 265.5236986730399, + 49.04911462088828 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1415.109461423652, + 262.9256224616866, + 49.04911462088828 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1413.609461423652, + 260.3275462503333, + 49.04911462088828 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1412.109461423652, + 257.72947003897997, + 49.04911462088828 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1396.0, + 232.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_21-33-3_639624893/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_21-33-3_639624893/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..26065834d16afc0fec0b75a58d38281c3759489b --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_21-33-3_639624893/pose.jsonl @@ -0,0 +1,93 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2236.628833379215, + 1545.186354155975, + 58.452175932394056 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2239.628833379215, + 1545.186354155975, + 58.452175932394056 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2242.628833379215, + 1545.186354155975, + 58.452175932394056 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2245.628833379215, + 1545.186354155975, + 58.452175932394056 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2248.628833379215, + 1545.186354155975, + 58.452175932394056 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2251.628833379215, + 1545.186354155975, + 58.452175932394056 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2312.0, + 1544.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_21-33-44_2052861120/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_21-33-44_2052861120/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bf59032298097bf718fa916bca86ba1d777e0e34 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_21-33-44_2052861120/pose.jsonl @@ -0,0 +1,288 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4917.34582839124, + 1391.2997655770005, + 65.7963519893218 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4914.747752179886, + 1392.7997655770005, + 65.7963519893218 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4912.149675968533, + 1394.2997655770005, + 65.7963519893218 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4909.55159975718, + 1395.7997655770005, + 65.7963519893218 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4906.953523545827, + 1397.2997655770005, + 65.7963519893218 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4904.355447334474, + 1398.7997655770005, + 65.7963519893218 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4901.757371123121, + 1400.2997655770005, + 65.7963519893218 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4899.159294911768, + 1401.7997655770005, + 65.7963519893218 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4896.561218700414, + 1403.2997655770005, + 65.7963519893218 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4893.963142489061, + 1404.7997655770005, + 65.7963519893218 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4891.365066277708, + 1406.2997655770005, + 65.7963519893218 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4888.766990066355, + 1407.7997655770005, + 65.7963519893218 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4886.168913855002, + 1409.2997655770005, + 65.7963519893218 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4883.570837643649, + 1410.7997655770005, + 65.7963519893218 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4883.570837643649, + 1410.7997655770005, + 65.7963519893218 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535897647 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4880.570837643649, + 1410.7997655770005, + 65.7963519893218 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 4877.570837643649, + 1410.7997655770005, + 65.7963519893218 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 4874.570837643649, + 1410.7997655770005, + 65.7963519893218 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 4871.570837643649, + 1410.7997655770005, + 65.7963519893218 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 4868.570837643649, + 1410.7997655770005, + 65.7963519893218 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 4865.570837643649, + 1410.7997655770005, + 65.7963519893218 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4844.0, + 1420.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_21-39-3_1303785506/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_21-39-3_1303785506/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..308524eca1dcb1e817cb219b11ab53958fa6e5bc --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_21-39-3_1303785506/pose.jsonl @@ -0,0 +1,171 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3160.254310967364, + 2216.142966125389, + 64.39273794340733 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3160.254310967364, + 2219.142966125389, + 64.39273794340733 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3160.254310967364, + 2222.142966125389, + 64.39273794340733 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3160.254310967364, + 2225.142966125389, + 64.39273794340733 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3160.254310967364, + 2228.142966125389, + 64.39273794340733 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3160.254310967364, + 2231.142966125389, + 64.39273794340733 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3160.254310967364, + 2234.142966125389, + 64.39273794340733 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3160.254310967364, + 2237.142966125389, + 64.39273794340733 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 3160.254310967364, + 2240.142966125389, + 64.39273794340733 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 3160.254310967364, + 2240.142966125389, + 64.39273794340733 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 3158.754310967364, + 2242.7410423367423, + 64.39273794340733 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 3157.254310967364, + 2245.3391185480955, + 64.39273794340733 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023932237 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3152.0, + 2300.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_21-41-19_2082735328/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_21-41-19_2082735328/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..77d6c378d35beaf9c1d1261af56fda6f6ee97eb6 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_21-41-19_2082735328/pose.jsonl @@ -0,0 +1,353 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4332.6113985294205, + 2345.7498176225454, + 43.619050503921095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4330.013322318067, + 2347.2498176225454, + 43.619050503921095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4327.415246106714, + 2348.7498176225454, + 43.619050503921095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4324.817169895361, + 2350.2498176225454, + 43.619050503921095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4322.219093684008, + 2351.7498176225454, + 43.619050503921095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4319.621017472655, + 2353.2498176225454, + 43.619050503921095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4317.022941261302, + 2354.7498176225454, + 43.619050503921095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4314.4248650499485, + 2356.2498176225454, + 43.619050503921095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4311.826788838595, + 2357.7498176225454, + 43.619050503921095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4309.228712627242, + 2359.2498176225454, + 43.619050503921095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4306.630636415889, + 2360.7498176225454, + 43.619050503921095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4304.032560204536, + 2362.2498176225454, + 43.619050503921095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4301.434483993183, + 2363.7498176225454, + 43.619050503921095 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4301.434483993183, + 2363.7498176225454, + 43.619050503921095 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535897647 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4298.434483993183, + 2363.7498176225454, + 43.619050503921095 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4295.434483993183, + 2363.7498176225454, + 43.619050503921095 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 4292.434483993183, + 2363.7498176225454, + 43.619050503921095 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 4289.434483993183, + 2363.7498176225454, + 43.619050503921095 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 4286.434483993183, + 2363.7498176225454, + 43.619050503921095 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 4283.434483993183, + 2363.7498176225454, + 43.619050503921095 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 4280.434483993183, + 2363.7498176225454, + 43.619050503921095 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 4277.434483993183, + 2363.7498176225454, + 43.619050503921095 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 4274.434483993183, + 2363.7498176225454, + 43.619050503921095 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 4271.434483993183, + 2363.7498176225454, + 43.619050503921095 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 4268.434483993183, + 2363.7498176225454, + 43.619050503921095 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 4265.434483993183, + 2363.7498176225454, + 43.619050503921095 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4240.0, + 2372.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_21-41-35_76810012/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_21-41-35_76810012/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..01ef2a8759827366f8d2f7bb82c97ee1916af926 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_21-41-35_76810012/pose.jsonl @@ -0,0 +1,288 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -342.2755864192797, + -2325.2858986726046, + 59.625575430648695 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -342.2755864192797, + -2328.2858986726046, + 59.625575430648695 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -342.2755864192797, + -2331.2858986726046, + 59.625575430648695 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -342.2755864192797, + -2334.2858986726046, + 59.625575430648695 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -342.2755864192797, + -2337.2858986726046, + 59.625575430648695 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -342.2755864192797, + -2340.2858986726046, + 59.625575430648695 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -342.2755864192797, + -2343.2858986726046, + 59.625575430648695 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -342.2755864192797, + -2346.2858986726046, + 59.625575430648695 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -342.2755864192797, + -2349.2858986726046, + 59.625575430648695 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -342.2755864192797, + -2352.2858986726046, + 59.625575430648695 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -342.2755864192797, + -2355.2858986726046, + 59.625575430648695 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -342.2755864192797, + -2358.2858986726046, + 59.625575430648695 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -342.2755864192797, + -2361.2858986726046, + 59.625575430648695 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -342.2755864192797, + -2364.2858986726046, + 59.625575430648695 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -342.2755864192797, + -2367.2858986726046, + 59.625575430648695 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -342.2755864192797, + -2370.2858986726046, + 59.625575430648695 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -342.2755864192797, + -2370.2858986726046, + 59.625575430648695 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -343.7755864192797, + -2372.8839748839578, + 59.625575430648695 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -345.2755864192797, + -2375.482051095311, + 59.625575430648695 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -346.7755864192797, + -2378.080127306664, + 59.625575430648695 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -348.2755864192797, + -2380.678203518017, + 59.625575430648695 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023932237 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -352.0, + -2396.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_21-42-56_1361478979/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_21-42-56_1361478979/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bc66ca6e05178b6114e89c3a04572257766519db --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_21-42-56_1361478979/pose.jsonl @@ -0,0 +1,379 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2927.8391455412357, + 1924.79486173732, + 59.10473121412798 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2926.3391455412357, + 1922.1967855259666, + 59.10473121412798 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2924.8391455412357, + 1919.5987093146132, + 59.10473121412798 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2923.3391455412357, + 1917.0006331032598, + 59.10473121412798 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2921.8391455412357, + 1914.4025568919064, + 59.10473121412798 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2920.3391455412357, + 1911.804480680553, + 59.10473121412798 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2918.8391455412357, + 1909.2064044691997, + 59.10473121412798 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2918.8391455412357, + 1909.2064044691997, + 59.10473121412798 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2918.8391455412357, + 1906.2064044691997, + 59.10473121412798 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2918.8391455412357, + 1903.2064044691997, + 59.10473121412798 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2918.8391455412357, + 1903.2064044691997, + 59.10473121412798 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2917.3391455412357, + 1900.6083282578463, + 59.10473121412798 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2915.8391455412357, + 1898.010252046493, + 59.10473121412798 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2914.3391455412357, + 1895.4121758351396, + 59.10473121412798 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2912.8391455412357, + 1892.8140996237862, + 59.10473121412798 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2912.8391455412357, + 1892.8140996237862, + 59.10473121412798 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2912.8391455412357, + 1889.8140996237862, + 59.10473121412798 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2912.8391455412357, + 1886.8140996237862, + 59.10473121412798 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2912.8391455412357, + 1883.8140996237862, + 59.10473121412798 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2912.8391455412357, + 1883.8140996237862, + 59.10473121412798 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2914.3391455412357, + 1881.2160234124328, + 59.10473121412798 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2915.8391455412357, + 1878.6179472010795, + 59.10473121412798 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2917.3391455412357, + 1876.019870989726, + 59.10473121412798 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2918.8391455412357, + 1873.4217947783727, + 59.10473121412798 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2920.3391455412357, + 1870.8237185670193, + 59.10473121412798 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2921.8391455412357, + 1868.225642355666, + 59.10473121412798 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2921.8391455412357, + 1868.225642355666, + 59.10473121412798 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2921.8391455412357, + 1865.225642355666, + 59.10473121412798 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948872 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2920.0, + 1844.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_21-43-27_1988180237/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_21-43-27_1988180237/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9e13c21b1f9641c20146ac9a1d457fb68cc92f4a --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_21-43-27_1988180237/pose.jsonl @@ -0,0 +1,171 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -181.15258659785474, + -2012.3514181096268, + 58.486683254702534 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -183.75066280920805, + -2010.8514181096268, + 58.486683254702534 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -186.34873902056137, + -2009.3514181096268, + 58.486683254702534 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -188.94681523191468, + -2007.8514181096268, + 58.486683254702534 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -191.544891443268, + -2006.3514181096268, + 58.486683254702534 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -194.14296765462132, + -2004.8514181096268, + 58.486683254702534 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -196.74104386597463, + -2003.3514181096268, + 58.486683254702534 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -199.33912007732795, + -2001.8514181096268, + 58.486683254702534 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -201.93719628868126, + -2000.3514181096268, + 58.486683254702534 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -204.53527250003458, + -1998.8514181096268, + 58.486683254702534 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -204.53527250003458, + -1998.8514181096268, + 58.486683254702534 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -207.53527250003458, + -1998.8514181096268, + 58.486683254702534 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -236.0, + -1988.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_21-44-37_757950880/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_21-44-37_757950880/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..79c36ac18a36fda6bc3cfbc37efac147f0fe3267 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_21-44-37_757950880/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1662.0476068317216, + -2989.9978909902466, + 51.87461229304131 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1664.645683043075, + -2988.4978909902466, + 51.87461229304131 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1667.2437592544284, + -2986.9978909902466, + 51.87461229304131 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1669.8418354657817, + -2985.4978909902466, + 51.87461229304131 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1672.4399116771351, + -2983.9978909902466, + 51.87461229304131 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1675.0379878884885, + -2982.4978909902466, + 51.87461229304131 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1677.6360640998419, + -2980.9978909902466, + 51.87461229304131 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1680.2341403111952, + -2979.4978909902466, + 51.87461229304131 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1682.8322165225486, + -2977.9978909902466, + 51.87461229304131 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1682.8322165225486, + -2977.9978909902466, + 51.87461229304131 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1684.3322165225486, + -2975.3998147788934, + 51.87461229304131 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1685.8322165225486, + -2972.8017385675403, + 51.87461229304131 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1687.3322165225486, + -2970.203662356187, + 51.87461229304131 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1688.8322165225486, + -2967.605586144834, + 51.87461229304131 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1690.3322165225486, + -2965.007509933481, + 51.87461229304131 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1691.8322165225486, + -2962.4094337221277, + 51.87461229304131 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1693.3322165225486, + -2959.8113575107745, + 51.87461229304131 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1694.8322165225486, + -2957.2132812994214, + 51.87461229304131 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1694.8322165225486, + -2957.2132812994214, + 51.87461229304131 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982706 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1697.430292733902, + -2955.7132812994214, + 51.87461229304131 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1700.0283689452554, + -2954.2132812994214, + 51.87461229304131 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1702.6264451566087, + -2952.7132812994214, + 51.87461229304131 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1705.224521367962, + -2951.2132812994214, + 51.87461229304131 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1732.0, + -2924.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_21-47-5_1827946632/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_21-47-5_1827946632/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9c577211120fb487e7e0c4c0ee66efa471ab2fca --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_21-47-5_1827946632/pose.jsonl @@ -0,0 +1,145 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4449.681347404003, + 2188.132998573697, + 53.509607504992715 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4449.681347404003, + 2191.132998573697, + 53.509607504992715 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4449.681347404003, + 2194.132998573697, + 53.509607504992715 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4449.681347404003, + 2197.132998573697, + 53.509607504992715 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4449.681347404003, + 2200.132998573697, + 53.509607504992715 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4449.681347404003, + 2203.132998573697, + 53.509607504992715 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4449.681347404003, + 2203.132998573697, + 53.509607504992715 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4451.181347404003, + 2205.73107478505, + 53.509607504992715 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4452.681347404003, + 2208.3291509964033, + 53.509607504992715 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4454.181347404003, + 2210.9272272077565, + 53.509607504992715 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965694 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4460.0, + 2252.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_21-5-8_1675910875/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_21-5-8_1675910875/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..962c4f479c5b9a6725b69d1accb30ef1a43ea555 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_21-5-8_1675910875/pose.jsonl @@ -0,0 +1,301 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -396.65660674886806, + -766.4691667053446, + 42.10048811228281 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -394.05853053751474, + -764.9691667053446, + 42.10048811228281 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -391.4604543261614, + -763.4691667053446, + 42.10048811228281 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -388.8623781148081, + -761.9691667053446, + 42.10048811228281 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -386.2643019034548, + -760.4691667053446, + 42.10048811228281 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -383.6662256921015, + -758.9691667053446, + 42.10048811228281 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -381.06814948074816, + -757.4691667053446, + 42.10048811228281 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -378.47007326939485, + -755.9691667053446, + 42.10048811228281 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -375.87199705804153, + -754.4691667053446, + 42.10048811228281 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -373.2739208466882, + -752.9691667053446, + 42.10048811228281 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -370.6758446353349, + -751.4691667053446, + 42.10048811228281 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -368.0777684239816, + -749.9691667053446, + 42.10048811228281 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -365.47969221262827, + -748.4691667053446, + 42.10048811228281 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -362.88161600127495, + -746.9691667053446, + 42.10048811228281 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -360.28353978992163, + -745.4691667053446, + 42.10048811228281 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -357.6854635785683, + -743.9691667053446, + 42.10048811228281 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -355.087387367215, + -742.4691667053446, + 42.10048811228281 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -352.4893111558617, + -740.9691667053446, + 42.10048811228281 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -349.89123494450837, + -739.4691667053446, + 42.10048811228281 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -347.29315873315505, + -737.9691667053446, + 42.10048811228281 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -344.69508252180174, + -736.4691667053446, + 42.10048811228281 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -342.0970063104484, + -734.9691667053446, + 42.10048811228281 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -328.0, + -724.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_21-51-46_121248617/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_21-51-46_121248617/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..75d20d5e31b701628dd93e49fa7cb47add82fba0 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_21-51-46_121248617/pose.jsonl @@ -0,0 +1,184 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 300.6214814770466, + -1703.200002042298, + 67.01671954663007 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 297.6214814770466, + -1703.200002042298, + 67.01671954663007 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 294.6214814770466, + -1703.200002042298, + 67.01671954663007 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 291.6214814770466, + -1703.200002042298, + 67.01671954663007 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 288.6214814770466, + -1703.200002042298, + 67.01671954663007 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 285.6214814770466, + -1703.200002042298, + 67.01671954663007 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 282.6214814770466, + -1703.200002042298, + 67.01671954663007 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 279.6214814770466, + -1703.200002042298, + 67.01671954663007 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 276.6214814770466, + -1703.200002042298, + 67.01671954663007 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 273.6214814770466, + -1703.200002042298, + 67.01671954663007 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 270.6214814770466, + -1703.200002042298, + 67.01671954663007 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 267.6214814770466, + -1703.200002042298, + 67.01671954663007 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 264.6214814770466, + -1703.200002042298, + 67.01671954663007 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 212.0, + -1700.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_21-54-28_1595930242/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_21-54-28_1595930242/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..57fd22bb14d223e52992e25608ceb04fda3fe2bf --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_21-54-28_1595930242/pose.jsonl @@ -0,0 +1,184 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1138.9927634821795, + 484.7211274721451, + 51.55476943046686 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1138.9927634821795, + 481.7211274721451, + 51.55476943046686 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1138.9927634821795, + 478.7211274721451, + 51.55476943046686 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1138.9927634821795, + 475.7211274721451, + 51.55476943046686 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1138.9927634821795, + 472.7211274721451, + 51.55476943046686 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1138.9927634821795, + 469.7211274721451, + 51.55476943046686 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1138.9927634821795, + 466.7211274721451, + 51.55476943046686 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1138.9927634821795, + 463.7211274721451, + 51.55476943046686 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1138.9927634821795, + 460.7211274721451, + 51.55476943046686 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1138.9927634821795, + 460.7211274721451, + 51.55476943046686 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1137.4927634821795, + 458.1230512607918, + 51.55476943046686 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1135.9927634821795, + 455.52497504943847, + 51.55476943046686 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1134.4927634821795, + 452.92689883808515, + 51.55476943046686 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1128.0, + 412.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_21-54-39_1367480709/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_21-54-39_1367480709/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4a173ad68ade32a9656baf92c3e009306df97aac --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_21-54-39_1367480709/pose.jsonl @@ -0,0 +1,93 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2717.6152451701123, + -493.79584474187214, + 41.9938190866452 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2719.1152451701123, + -496.39392095322546, + 41.9938190866452 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2720.6152451701123, + -498.9919971645788, + 41.9938190866452 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2722.1152451701123, + -501.5900733759321, + 41.9938190866452 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2723.6152451701123, + -504.1881495872854, + 41.9938190866452 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2725.1152451701123, + -506.7862257986387, + 41.9938190866452 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2776.0, + -564.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_21-54-7_1599300131/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_21-54-7_1599300131/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..558751bf3268e2e687ac9785d609df9da151189f --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_21-54-7_1599300131/pose.jsonl @@ -0,0 +1,184 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2153.392996490458, + -1245.0080874462174, + 46.16848877387824 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2154.892996490458, + -1242.410011234864, + 46.16848877387824 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2156.392996490458, + -1239.8119350235106, + 46.16848877387824 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2157.892996490458, + -1237.2138588121572, + 46.16848877387824 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2159.392996490458, + -1234.6157826008039, + 46.16848877387824 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2160.892996490458, + -1232.0177063894505, + 46.16848877387824 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2162.392996490458, + -1229.4196301780971, + 46.16848877387824 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2162.392996490458, + -1229.4196301780971, + 46.16848877387824 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2162.392996490458, + -1226.4196301780971, + 46.16848877387824 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2162.392996490458, + -1223.4196301780971, + 46.16848877387824 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2162.392996490458, + -1220.4196301780971, + 46.16848877387824 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2162.392996490458, + -1217.4196301780971, + 46.16848877387824 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2162.392996490458, + -1214.4196301780971, + 46.16848877387824 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2184.0, + -1156.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_21-58-56_1984313970/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_21-58-56_1984313970/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dd6b1e5023b3f0080783ff3dface180cbc211d66 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_21-58-56_1984313970/pose.jsonl @@ -0,0 +1,249 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4187.81595926812, + 1216.0750807931927, + 56.43512037515481 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4186.31595926812, + 1213.4770045818393, + 56.43512037515481 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4184.81595926812, + 1210.878928370486, + 56.43512037515481 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4183.31595926812, + 1208.2808521591326, + 56.43512037515481 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4181.81595926812, + 1205.6827759477792, + 56.43512037515481 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4180.31595926812, + 1203.0846997364258, + 56.43512037515481 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4178.81595926812, + 1200.4866235250724, + 56.43512037515481 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4177.31595926812, + 1197.888547313719, + 56.43512037515481 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4175.81595926812, + 1195.2904711023657, + 56.43512037515481 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4174.31595926812, + 1192.6923948910123, + 56.43512037515481 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4172.81595926812, + 1190.094318679659, + 56.43512037515481 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4171.31595926812, + 1187.4962424683056, + 56.43512037515481 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4171.31595926812, + 1187.4962424683056, + 56.43512037515481 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4171.31595926812, + 1184.4962424683056, + 56.43512037515481 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4171.31595926812, + 1181.4962424683056, + 56.43512037515481 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4171.31595926812, + 1178.4962424683056, + 56.43512037515481 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 4171.31595926812, + 1175.4962424683056, + 56.43512037515481 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 4171.31595926812, + 1172.4962424683056, + 56.43512037515481 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4160.0, + 1140.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_21-59-22_1793895841/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_21-59-22_1793895841/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..52fe3caa498c719b13ce04202384885913268e92 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_21-59-22_1793895841/pose.jsonl @@ -0,0 +1,210 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1454.271434412523, + -272.1776247958944, + 59.49440000522553 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1454.271434412523, + -275.1776247958944, + 59.49440000522553 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1454.271434412523, + -278.1776247958944, + 59.49440000522553 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1454.271434412523, + -281.1776247958944, + 59.49440000522553 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1454.271434412523, + -284.1776247958944, + 59.49440000522553 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1454.271434412523, + -287.1776247958944, + 59.49440000522553 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1454.271434412523, + -290.1776247958944, + 59.49440000522553 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1454.271434412523, + -293.1776247958944, + 59.49440000522553 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1454.271434412523, + -296.1776247958944, + 59.49440000522553 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1454.271434412523, + -299.1776247958944, + 59.49440000522553 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1454.271434412523, + -302.1776247958944, + 59.49440000522553 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1454.271434412523, + -305.1776247958944, + 59.49440000522553 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1454.271434412523, + -308.1776247958944, + 59.49440000522553 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1454.271434412523, + -311.1776247958944, + 59.49440000522553 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1454.271434412523, + -314.1776247958944, + 59.49440000522553 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1452.0, + -336.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_21-59-9_1004642738/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_21-59-9_1004642738/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..adaba2941d25c3e27b6a6626fa742acbec457a82 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_21-59-9_1004642738/pose.jsonl @@ -0,0 +1,262 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 651.501431656669, + 2238.2781900978703, + 59.27565628878858 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 648.501431656669, + 2238.2781900978703, + 59.27565628878858 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 645.501431656669, + 2238.2781900978703, + 59.27565628878858 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 642.501431656669, + 2238.2781900978703, + 59.27565628878858 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 639.501431656669, + 2238.2781900978703, + 59.27565628878858 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 636.501431656669, + 2238.2781900978703, + 59.27565628878858 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 633.501431656669, + 2238.2781900978703, + 59.27565628878858 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 630.501431656669, + 2238.2781900978703, + 59.27565628878858 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 627.501431656669, + 2238.2781900978703, + 59.27565628878858 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 624.501431656669, + 2238.2781900978703, + 59.27565628878858 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 621.501431656669, + 2238.2781900978703, + 59.27565628878858 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 621.501431656669, + 2238.2781900978703, + 59.27565628878858 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 618.9033554453156, + 2236.7781900978703, + 59.27565628878858 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 616.3052792339622, + 2235.2781900978703, + 59.27565628878858 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 613.7072030226088, + 2233.7781900978703, + 59.27565628878858 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 611.1091268112555, + 2232.2781900978703, + 59.27565628878858 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 608.5110505999021, + 2230.7781900978703, + 59.27565628878858 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 608.5110505999021, + 2230.7781900978703, + 59.27565628878858 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 605.5110505999021, + 2230.7781900978703, + 59.27565628878858 + ], + "type": "stop", + "value": 0, + "yaw": -3.1415926535898024 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 564.0, + 2224.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_21-7-10_1227833555/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_21-7-10_1227833555/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2650322f2050e306791d9b4131512dbb77b6073c --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_21-7-10_1227833555/pose.jsonl @@ -0,0 +1,54 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3115.246547158894, + 2437.6027465898765, + 44.60862866909219 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3115.246547158894, + 2434.6027465898765, + 44.60862866909219 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3115.246547158894, + 2431.6027465898765, + 44.60862866909219 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3108.0, + 2340.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_21-7-17_1401943880/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_21-7-17_1401943880/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3b1829db0df026ccd2207a6577fb6a30946e048a --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_21-7-17_1401943880/pose.jsonl @@ -0,0 +1,236 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1983.2956771638737, + -1066.4206975482114, + 62.203371850943945 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1984.7956771638737, + -1069.0187737595647, + 62.203371850943945 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1986.2956771638737, + -1071.616849970918, + 62.203371850943945 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1987.7956771638737, + -1074.2149261822715, + 62.203371850943945 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1989.2956771638737, + -1076.8130023936249, + 62.203371850943945 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1990.7956771638737, + -1079.4110786049782, + 62.203371850943945 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1992.2956771638737, + -1082.0091548163316, + 62.203371850943945 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1993.7956771638737, + -1084.607231027685, + 62.203371850943945 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1993.7956771638737, + -1084.607231027685, + 62.203371850943945 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1993.7956771638737, + -1087.607231027685, + 62.203371850943945 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1993.7956771638737, + -1090.607231027685, + 62.203371850943945 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1993.7956771638737, + -1093.607231027685, + 62.203371850943945 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1993.7956771638737, + -1096.607231027685, + 62.203371850943945 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1993.7956771638737, + -1099.607231027685, + 62.203371850943945 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1993.7956771638737, + -1102.607231027685, + 62.203371850943945 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1993.7956771638737, + -1105.607231027685, + 62.203371850943945 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1993.7956771638737, + -1108.607231027685, + 62.203371850943945 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2004.0, + -1136.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_21-9-43_854155594/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_21-9-43_854155594/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..72c6c905568aa7159b479ebf6232d2cd2d2f632d --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_21-9-43_854155594/pose.jsonl @@ -0,0 +1,262 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1140.6414330680548, + -88.438291039928, + 40.81866782229422 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1142.1414330680548, + -85.84021482857469, + 40.81866782229422 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1143.6414330680548, + -83.24213861722137, + 40.81866782229422 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1145.1414330680548, + -80.64406240586806, + 40.81866782229422 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1146.6414330680548, + -78.04598619451474, + 40.81866782229422 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1148.1414330680548, + -75.44790998316142, + 40.81866782229422 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1149.6414330680548, + -72.84983377180811, + 40.81866782229422 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1151.1414330680548, + -70.25175756045479, + 40.81866782229422 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1152.6414330680548, + -67.65368134910148, + 40.81866782229422 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1154.1414330680548, + -65.05560513774816, + 40.81866782229422 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1155.6414330680548, + -62.45752892639484, + 40.81866782229422 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1157.1414330680548, + -59.85945271504153, + 40.81866782229422 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1158.6414330680548, + -57.26137650368821, + 40.81866782229422 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1160.1414330680548, + -54.663300292334895, + 40.81866782229422 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1161.6414330680548, + -52.06522408098158, + 40.81866782229422 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1163.1414330680548, + -49.46714786962826, + 40.81866782229422 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1164.6414330680548, + -46.86907165827495, + 40.81866782229422 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1166.1414330680548, + -44.27099544692163, + 40.81866782229422 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1167.6414330680548, + -41.672919235568315, + 40.81866782229422 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1184.0, + -4.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_22-13-55_1874545820/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_22-13-55_1874545820/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9db7689eba5f26353fd282f7cc912ba752681c58 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_22-13-55_1874545820/pose.jsonl @@ -0,0 +1,288 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2915.108071268658, + 2262.7475986384643, + 51.79119428516418 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2916.608071268658, + 2260.149522427111, + 51.79119428516418 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2918.108071268658, + 2257.551446215758, + 51.79119428516418 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2919.608071268658, + 2254.953370004405, + 51.79119428516418 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2921.108071268658, + 2252.3552937930517, + 51.79119428516418 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2922.608071268658, + 2249.7572175816986, + 51.79119428516418 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2924.108071268658, + 2247.1591413703454, + 51.79119428516418 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2925.608071268658, + 2244.5610651589923, + 51.79119428516418 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2927.108071268658, + 2241.962988947639, + 51.79119428516418 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2928.608071268658, + 2239.364912736286, + 51.79119428516418 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2930.108071268658, + 2236.766836524933, + 51.79119428516418 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2931.608071268658, + 2234.1687603135797, + 51.79119428516418 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2933.108071268658, + 2231.5706841022266, + 51.79119428516418 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2934.608071268658, + 2228.9726078908734, + 51.79119428516418 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2936.108071268658, + 2226.3745316795203, + 51.79119428516418 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2936.108071268658, + 2226.3745316795203, + 51.79119428516418 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915224 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2938.706147480011, + 2224.8745316795203, + 51.79119428516418 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2941.3042236913643, + 2223.3745316795203, + 51.79119428516418 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2943.9022999027175, + 2221.8745316795203, + 51.79119428516418 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2946.5003761140706, + 2220.3745316795203, + 51.79119428516418 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2949.0984523254238, + 2218.8745316795203, + 51.79119428516418 + ], + "type": "stop", + "value": 0, + "yaw": -2.617993877991466 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2976.0, + 2188.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_22-29-38_335531187/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_22-29-38_335531187/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8c5a154695e28e71f1fb026b5a99d4f62c2e131a --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_22-29-38_335531187/pose.jsonl @@ -0,0 +1,145 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1203.5808811452343, + -1462.0724923966325, + 63.18098527306638 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1206.5808811452343, + -1462.0724923966325, + 63.18098527306638 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1209.5808811452343, + -1462.0724923966325, + 63.18098527306638 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1212.5808811452343, + -1462.0724923966325, + 63.18098527306638 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1215.5808811452343, + -1462.0724923966325, + 63.18098527306638 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1218.5808811452343, + -1462.0724923966325, + 63.18098527306638 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1221.5808811452343, + -1462.0724923966325, + 63.18098527306638 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1224.5808811452343, + -1462.0724923966325, + 63.18098527306638 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1227.5808811452343, + -1462.0724923966325, + 63.18098527306638 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1230.5808811452343, + -1462.0724923966325, + 63.18098527306638 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1264.0, + -1468.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_22-34-45_817482649/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_22-34-45_817482649/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5ba09866a0bdda6d9d9829215303c9bf22991f56 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_22-34-45_817482649/pose.jsonl @@ -0,0 +1,327 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -816.0059657786641, + 1070.3155247303278, + 40.84651989478698 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -816.0059657786641, + 1067.3155247303278, + 40.84651989478698 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -816.0059657786641, + 1064.3155247303278, + 40.84651989478698 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -816.0059657786641, + 1061.3155247303278, + 40.84651989478698 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -816.0059657786641, + 1058.3155247303278, + 40.84651989478698 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -816.0059657786641, + 1055.3155247303278, + 40.84651989478698 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -816.0059657786641, + 1052.3155247303278, + 40.84651989478698 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -816.0059657786641, + 1049.3155247303278, + 40.84651989478698 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -816.0059657786641, + 1046.3155247303278, + 40.84651989478698 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -816.0059657786641, + 1043.3155247303278, + 40.84651989478698 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -816.0059657786641, + 1040.3155247303278, + 40.84651989478698 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -816.0059657786641, + 1037.3155247303278, + 40.84651989478698 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -816.0059657786641, + 1034.3155247303278, + 40.84651989478698 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -816.0059657786641, + 1031.3155247303278, + 40.84651989478698 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -816.0059657786641, + 1028.3155247303278, + 40.84651989478698 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -816.0059657786641, + 1025.3155247303278, + 40.84651989478698 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -816.0059657786641, + 1022.3155247303278, + 40.84651989478698 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -816.0059657786641, + 1019.3155247303278, + 40.84651989478698 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -816.0059657786641, + 1016.3155247303278, + 40.84651989478698 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -816.0059657786641, + 1016.3155247303278, + 40.84651989478698 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -817.5059657786641, + 1013.7174485189744, + 40.84651989478698 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -819.0059657786641, + 1011.119372307621, + 40.84651989478698 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -820.5059657786641, + 1008.5212960962676, + 40.84651989478698 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -822.0059657786641, + 1005.9232198849143, + 40.84651989478698 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -824.0, + 992.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_22-42-52_136561149/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_22-42-52_136561149/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4ca87978fec3940d783d463ffb45bad21672e5c7 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_22-42-52_136561149/pose.jsonl @@ -0,0 +1,132 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1364.7936274710457, + -427.69113328169203, + 62.34071635763783 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1367.7936274710457, + -427.69113328169203, + 62.34071635763783 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1370.7936274710457, + -427.69113328169203, + 62.34071635763783 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1373.7936274710457, + -427.69113328169203, + 62.34071635763783 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1373.7936274710457, + -427.69113328169203, + 62.34071635763783 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1376.391703682399, + -426.19113328169203, + 62.34071635763783 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1378.9897798937525, + -424.69113328169203, + 62.34071635763783 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1381.5878561051059, + -423.19113328169203, + 62.34071635763783 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1384.1859323164592, + -421.69113328169203, + 62.34071635763783 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1452.0, + -396.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_22-46-26_1875242061/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_22-46-26_1875242061/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a2fa440788f4e338d59ac7e00a75bfa7d2fd7937 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_22-46-26_1875242061/pose.jsonl @@ -0,0 +1,353 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2043.782411960402, + -1965.0814518813172, + 55.35687505955305 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2042.282411960402, + -1967.6795280926706, + 55.35687505955305 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2040.782411960402, + -1970.277604304024, + 55.35687505955305 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2039.282411960402, + -1972.8756805153773, + 55.35687505955305 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2037.782411960402, + -1975.4737567267307, + 55.35687505955305 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2036.282411960402, + -1978.071832938084, + 55.35687505955305 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2034.782411960402, + -1980.6699091494374, + 55.35687505955305 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2033.282411960402, + -1983.2679853607908, + 55.35687505955305 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2031.782411960402, + -1985.8660615721442, + 55.35687505955305 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2030.282411960402, + -1988.4641377834976, + 55.35687505955305 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2028.782411960402, + -1991.062213994851, + 55.35687505955305 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2027.282411960402, + -1993.6602902062043, + 55.35687505955305 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2025.782411960402, + -1996.2583664175577, + 55.35687505955305 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2024.282411960402, + -1998.856442628911, + 55.35687505955305 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2022.782411960402, + -2001.4545188402644, + 55.35687505955305 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2022.782411960402, + -2001.4545188402644, + 55.35687505955305 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2020.1843357490486, + -2002.9545188402644, + 55.35687505955305 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2017.5862595376952, + -2004.4545188402644, + 55.35687505955305 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2014.9881833263419, + -2005.9545188402644, + 55.35687505955305 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2012.3901071149885, + -2007.4545188402644, + 55.35687505955305 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2009.7920309036351, + -2008.9545188402644, + 55.35687505955305 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2007.1939546922817, + -2010.4545188402644, + 55.35687505955305 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2004.5958784809284, + -2011.9545188402644, + 55.35687505955305 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2001.997802269575, + -2013.4545188402644, + 55.35687505955305 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1999.3997260582216, + -2014.9545188402644, + 55.35687505955305 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1996.8016498468683, + -2016.4545188402644, + 55.35687505955305 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1984.0, + -2032.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_22-47-28_1982908766/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_22-47-28_1982908766/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c3edcc404c7d0d32c12c1cb67fba21569cce5953 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_22-47-28_1982908766/pose.jsonl @@ -0,0 +1,262 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1152.8568763928806, + -485.1851618958104, + 52.35188614368229 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1151.3568763928806, + -487.7832381071637, + 52.35188614368229 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1149.8568763928806, + -490.381314318517, + 52.35188614368229 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1148.3568763928806, + -492.97939052987033, + 52.35188614368229 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1146.8568763928806, + -495.57746674122365, + 52.35188614368229 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1145.3568763928806, + -498.17554295257696, + 52.35188614368229 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1143.8568763928806, + -500.7736191639303, + 52.35188614368229 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1142.3568763928806, + -503.3716953752836, + 52.35188614368229 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1140.8568763928806, + -505.9697715866369, + 52.35188614368229 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1139.3568763928806, + -508.5678477979902, + 52.35188614368229 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1137.8568763928806, + -511.16592400934354, + 52.35188614368229 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1136.3568763928806, + -513.7640002206969, + 52.35188614368229 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1134.8568763928806, + -516.3620764320501, + 52.35188614368229 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1133.3568763928806, + -518.9601526434035, + 52.35188614368229 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1131.8568763928806, + -521.5582288547569, + 52.35188614368229 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1130.3568763928806, + -524.1563050661102, + 52.35188614368229 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1128.8568763928806, + -526.7543812774636, + 52.35188614368229 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1127.3568763928806, + -529.352457488817, + 52.35188614368229 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1125.8568763928806, + -531.9505337001704, + 52.35188614368229 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1116.0, + -544.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_22-5-4_849580744/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_22-5-4_849580744/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9440908ba70c3a2aad4b860590d7be724a7061b0 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_22-5-4_849580744/pose.jsonl @@ -0,0 +1,288 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 828.1111342335375, + 751.7116924498741, + 40.51614421827331 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 825.5130580221842, + 753.2116924498741, + 40.51614421827331 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 822.9149818108308, + 754.7116924498741, + 40.51614421827331 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 820.3169055994774, + 756.2116924498741, + 40.51614421827331 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 817.718829388124, + 757.7116924498741, + 40.51614421827331 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 815.1207531767707, + 759.2116924498741, + 40.51614421827331 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 812.5226769654173, + 760.7116924498741, + 40.51614421827331 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 809.9246007540639, + 762.2116924498741, + 40.51614421827331 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 807.3265245427106, + 763.7116924498741, + 40.51614421827331 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 804.7284483313572, + 765.2116924498741, + 40.51614421827331 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 802.1303721200038, + 766.7116924498741, + 40.51614421827331 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 799.5322959086504, + 768.2116924498741, + 40.51614421827331 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 796.9342196972971, + 769.7116924498741, + 40.51614421827331 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 794.3361434859437, + 771.2116924498741, + 40.51614421827331 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 791.7380672745903, + 772.7116924498741, + 40.51614421827331 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 789.139991063237, + 774.2116924498741, + 40.51614421827331 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 786.5419148518836, + 775.7116924498741, + 40.51614421827331 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 783.9438386405302, + 777.2116924498741, + 40.51614421827331 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 783.9438386405302, + 777.2116924498741, + 40.51614421827331 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 782.4438386405302, + 779.8097686612275, + 40.51614421827331 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 780.9438386405302, + 782.4078448725809, + 40.51614421827331 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 756.0, + 800.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_22-5-58_1573177440/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_22-5-58_1573177440/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cb8489321d4ba84a03d00728d8888cf203db38fa --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_22-5-58_1573177440/pose.jsonl @@ -0,0 +1,249 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2437.8499358746126, + 1504.791205505216, + 65.85044897407724 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2440.4480120859657, + 1506.291205505216, + 65.85044897407724 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2443.046088297319, + 1507.791205505216, + 65.85044897407724 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2445.644164508672, + 1509.291205505216, + 65.85044897407724 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2448.242240720025, + 1510.791205505216, + 65.85044897407724 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2450.8403169313783, + 1512.291205505216, + 65.85044897407724 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2453.4383931427315, + 1513.791205505216, + 65.85044897407724 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2456.0364693540846, + 1515.291205505216, + 65.85044897407724 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2458.6345455654377, + 1516.791205505216, + 65.85044897407724 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2461.232621776791, + 1518.291205505216, + 65.85044897407724 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2463.830697988144, + 1519.791205505216, + 65.85044897407724 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2466.428774199497, + 1521.291205505216, + 65.85044897407724 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2466.428774199497, + 1521.291205505216, + 65.85044897407724 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535897647 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2469.428774199497, + 1521.291205505216, + 65.85044897407724 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2472.428774199497, + 1521.291205505216, + 65.85044897407724 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2475.428774199497, + 1521.291205505216, + 65.85044897407724 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2478.428774199497, + 1521.291205505216, + 65.85044897407724 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2481.428774199497, + 1521.291205505216, + 65.85044897407724 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2512.0, + 1532.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_22-53-51_269026234/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_22-53-51_269026234/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e701543f75fed7ed8ccc737a4d2022b69d96163b --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_22-53-51_269026234/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1523.2099337801835, + 83.99413176952866, + 41.31002993193585 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1523.2099337801835, + 80.99413176952866, + 41.31002993193585 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1523.2099337801835, + 77.99413176952866, + 41.31002993193585 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1523.2099337801835, + 74.99413176952866, + 41.31002993193585 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1523.2099337801835, + 71.99413176952866, + 41.31002993193585 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1523.2099337801835, + 68.99413176952866, + 41.31002993193585 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1523.2099337801835, + 65.99413176952866, + 41.31002993193585 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1523.2099337801835, + 62.994131769528664, + 41.31002993193585 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1523.2099337801835, + 59.994131769528664, + 41.31002993193585 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1523.2099337801835, + 56.994131769528664, + 41.31002993193585 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1523.2099337801835, + 53.994131769528664, + 41.31002993193585 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1523.2099337801835, + 50.994131769528664, + 41.31002993193585 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1523.2099337801835, + 47.994131769528664, + 41.31002993193585 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1523.2099337801835, + 44.994131769528664, + 41.31002993193585 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1523.2099337801835, + 44.994131769528664, + 41.31002993193585 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1521.7099337801835, + 42.39605555817535, + 41.31002993193585 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1520.2099337801835, + 39.79797934682203, + 41.31002993193585 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1518.7099337801835, + 37.199903135468716, + 41.31002993193585 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1517.2099337801835, + 34.6018269241154, + 41.31002993193585 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1515.7099337801835, + 32.003750712762084, + 41.31002993193585 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1514.2099337801835, + 29.405674501408768, + 41.31002993193585 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1512.7099337801835, + 26.807598290055452, + 41.31002993193585 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1511.2099337801835, + 24.209522078702136, + 41.31002993193585 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1508.0, + -8.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_22-55-52_2006420005/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_22-55-52_2006420005/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..230811cad02f497a52f7df5435fccabab4b6eb2c --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_22-55-52_2006420005/pose.jsonl @@ -0,0 +1,197 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3369.633043546696, + 613.1852779871494, + 61.06115677243735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3368.133043546696, + 610.5872017757961, + 61.06115677243735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3366.633043546696, + 607.9891255644427, + 61.06115677243735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3365.133043546696, + 605.3910493530893, + 61.06115677243735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3363.633043546696, + 602.792973141736, + 61.06115677243735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3362.133043546696, + 600.1948969303826, + 61.06115677243735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3360.633043546696, + 597.5968207190292, + 61.06115677243735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3359.133043546696, + 594.9987445076758, + 61.06115677243735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 3357.633043546696, + 592.4006682963225, + 61.06115677243735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 3356.133043546696, + 589.8025920849691, + 61.06115677243735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 3354.633043546696, + 587.2045158736157, + 61.06115677243735 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 3354.633043546696, + 587.2045158736157, + 61.06115677243735 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 3354.633043546696, + 584.2045158736157, + 61.06115677243735 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 3354.633043546696, + 581.2045158736157, + 61.06115677243735 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3332.0, + 532.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_22-58-42_2044082050/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_22-58-42_2044082050/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d2e05f9026f1ac8424fb3ae649aee29aeadf80d4 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_22-58-42_2044082050/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3235.3344306942213, + 316.0135374222974, + 59.57201282573618 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3236.8344306942213, + 313.4154612109441, + 59.57201282573618 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3238.3344306942213, + 310.8173849995908, + 59.57201282573618 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3239.8344306942213, + 308.21930878823747, + 59.57201282573618 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3241.3344306942213, + 305.62123257688415, + 59.57201282573618 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3242.8344306942213, + 303.02315636553084, + 59.57201282573618 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3244.3344306942213, + 300.4250801541775, + 59.57201282573618 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3245.8344306942213, + 297.8270039428242, + 59.57201282573618 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 3247.3344306942213, + 295.2289277314709, + 59.57201282573618 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 3248.8344306942213, + 292.6308515201176, + 59.57201282573618 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 3250.3344306942213, + 290.03277530876426, + 59.57201282573618 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 3251.8344306942213, + 287.43469909741094, + 59.57201282573618 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 3253.3344306942213, + 284.8366228860576, + 59.57201282573618 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 3254.8344306942213, + 282.2385466747043, + 59.57201282573618 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 3256.3344306942213, + 279.640470463351, + 59.57201282573618 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 3256.3344306942213, + 279.640470463351, + 59.57201282573618 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 3256.3344306942213, + 276.640470463351, + 59.57201282573618 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 3256.3344306942213, + 273.640470463351, + 59.57201282573618 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 3256.3344306942213, + 270.640470463351, + 59.57201282573618 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 3256.3344306942213, + 267.640470463351, + 59.57201282573618 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 3256.3344306942213, + 264.640470463351, + 59.57201282573618 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 3256.3344306942213, + 261.640470463351, + 59.57201282573618 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 3256.3344306942213, + 258.640470463351, + 59.57201282573618 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3260.0, + 240.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_22-9-19_1920703868/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_22-9-19_1920703868/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8e045297f2f96a4697cf156882d0018758020077 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_22-9-19_1920703868/pose.jsonl @@ -0,0 +1,132 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1033.4268670853771, + 406.6493842670338, + 62.54704870512033 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1036.4268670853771, + 406.6493842670338, + 62.54704870512033 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1039.4268670853771, + 406.6493842670338, + 62.54704870512033 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1042.4268670853771, + 406.6493842670338, + 62.54704870512033 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1045.4268670853771, + 406.6493842670338, + 62.54704870512033 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1048.4268670853771, + 406.6493842670338, + 62.54704870512033 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1051.4268670853771, + 406.6493842670338, + 62.54704870512033 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1054.4268670853771, + 406.6493842670338, + 62.54704870512033 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1057.4268670853771, + 406.6493842670338, + 62.54704870512033 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1128.0, + 412.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_22-9-44_1904279192/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_22-9-44_1904279192/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..883dfed986432cf5cc304b47b31217004780136b --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_22-9-44_1904279192/pose.jsonl @@ -0,0 +1,392 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 215.31405301288044, + 570.9922069008921, + 51.82910813614535 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 216.81405301288044, + 568.3941306895388, + 51.82910813614535 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 218.31405301288044, + 565.7960544781854, + 51.82910813614535 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 219.81405301288044, + 563.197978266832, + 51.82910813614535 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 221.31405301288044, + 560.5999020554787, + 51.82910813614535 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 222.81405301288044, + 558.0018258441253, + 51.82910813614535 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 224.31405301288044, + 555.4037496327719, + 51.82910813614535 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 225.81405301288044, + 552.8056734214185, + 51.82910813614535 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 227.31405301288044, + 550.2075972100652, + 51.82910813614535 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 228.81405301288044, + 547.6095209987118, + 51.82910813614535 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 230.31405301288044, + 545.0114447873584, + 51.82910813614535 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 231.81405301288044, + 542.413368576005, + 51.82910813614535 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 233.31405301288044, + 539.8152923646517, + 51.82910813614535 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 234.81405301288044, + 537.2172161532983, + 51.82910813614535 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 236.31405301288044, + 534.6191399419449, + 51.82910813614535 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 237.81405301288044, + 532.0210637305915, + 51.82910813614535 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 239.31405301288044, + 529.4229875192382, + 51.82910813614535 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 239.31405301288044, + 529.4229875192382, + 51.82910813614535 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 239.31405301288044, + 526.4229875192382, + 51.82910813614535 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 239.31405301288044, + 523.4229875192382, + 51.82910813614535 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 239.31405301288044, + 520.4229875192382, + 51.82910813614535 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 239.31405301288044, + 517.4229875192382, + 51.82910813614535 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 239.31405301288044, + 514.4229875192382, + 51.82910813614535 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 239.31405301288044, + 511.4229875192382, + 51.82910813614535 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 239.31405301288044, + 508.4229875192382, + 51.82910813614535 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 239.31405301288044, + 505.4229875192382, + 51.82910813614535 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 239.31405301288044, + 502.4229875192382, + 51.82910813614535 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 239.31405301288044, + 499.4229875192382, + 51.82910813614535 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 239.31405301288044, + 496.4229875192382, + 51.82910813614535 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 244.0, + 476.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_23-0-58_999416032/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_23-0-58_999416032/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a9688872f3baaf0b815b7351597449a4436f6220 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_23-0-58_999416032/pose.jsonl @@ -0,0 +1,262 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1846.5392358034765, + 706.000704462726, + 53.953919794289554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1843.5392358034765, + 706.000704462726, + 53.953919794289554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1840.5392358034765, + 706.000704462726, + 53.953919794289554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1837.5392358034765, + 706.000704462726, + 53.953919794289554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1834.5392358034765, + 706.000704462726, + 53.953919794289554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1831.5392358034765, + 706.000704462726, + 53.953919794289554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1828.5392358034765, + 706.000704462726, + 53.953919794289554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1825.5392358034765, + 706.000704462726, + 53.953919794289554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1822.5392358034765, + 706.000704462726, + 53.953919794289554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1819.5392358034765, + 706.000704462726, + 53.953919794289554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1816.5392358034765, + 706.000704462726, + 53.953919794289554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1813.5392358034765, + 706.000704462726, + 53.953919794289554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1810.5392358034765, + 706.000704462726, + 53.953919794289554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1807.5392358034765, + 706.000704462726, + 53.953919794289554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1804.5392358034765, + 706.000704462726, + 53.953919794289554 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1804.5392358034765, + 706.000704462726, + 53.953919794289554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1801.941159592123, + 707.500704462726, + 53.953919794289554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1799.3430833807697, + 709.000704462726, + 53.953919794289554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1796.7450071694163, + 710.500704462726, + 53.953919794289554 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1772.0, + 712.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_23-1-57_1989833661/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_23-1-57_1989833661/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..85ade71892e00bae01169707deb8d6f8b6308b5f --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_23-1-57_1989833661/pose.jsonl @@ -0,0 +1,366 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2010.5422077229862, + -2051.493907254033, + 58.91207987845843 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2013.5422077229862, + -2051.493907254033, + 58.91207987845843 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2016.5422077229862, + -2051.493907254033, + 58.91207987845843 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2019.5422077229862, + -2051.493907254033, + 58.91207987845843 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2022.5422077229862, + -2051.493907254033, + 58.91207987845843 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2025.5422077229862, + -2051.493907254033, + 58.91207987845843 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2028.5422077229862, + -2051.493907254033, + 58.91207987845843 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2031.5422077229862, + -2051.493907254033, + 58.91207987845843 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2034.5422077229862, + -2051.493907254033, + 58.91207987845843 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 2037.5422077229862, + -2051.493907254033, + 58.91207987845843 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2037.5422077229862, + -2051.493907254033, + 58.91207987845843 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2037.5422077229862, + -2051.493907254033, + 58.91207987845843 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 2039.0422077229862, + -2054.091983465386, + 58.91207987845843 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 2040.5422077229862, + -2056.690059676739, + 58.91207987845843 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 2042.0422077229862, + -2059.2881358880923, + 58.91207987845843 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 2043.5422077229862, + -2061.8862120994454, + 58.91207987845843 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 2045.0422077229862, + -2064.4842883107985, + 58.91207987845843 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 2045.0422077229862, + -2064.4842883107985, + 58.91207987845843 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982706 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 2047.6402839343395, + -2065.9842883107985, + 58.91207987845843 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 2050.2383601456927, + -2067.4842883107985, + 58.91207987845843 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 2052.836436357046, + -2068.9842883107985, + 58.91207987845843 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 2055.434512568399, + -2070.4842883107985, + 58.91207987845843 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 2058.032588779752, + -2071.9842883107985, + 58.91207987845843 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 2060.6306649911053, + -2073.4842883107985, + 58.91207987845843 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 2063.2287412024584, + -2074.9842883107985, + 58.91207987845843 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 2065.8268174138116, + -2076.4842883107985, + 58.91207987845843 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 2068.4248936251647, + -2077.9842883107985, + 58.91207987845843 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755983272 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2088.0, + -2084.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_23-10-29_1104028380/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_23-10-29_1104028380/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..78e7bb77dd35f5e268ec153627483e5c2d0b9b92 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_23-10-29_1104028380/pose.jsonl @@ -0,0 +1,145 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3039.8438953363316, + -749.932767337032, + 48.90409410122491 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3036.8438953363316, + -749.932767337032, + 48.90409410122491 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3033.8438953363316, + -749.932767337032, + 48.90409410122491 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3030.8438953363316, + -749.932767337032, + 48.90409410122491 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3027.8438953363316, + -749.932767337032, + 48.90409410122491 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3024.8438953363316, + -749.932767337032, + 48.90409410122491 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3021.8438953363316, + -749.932767337032, + 48.90409410122491 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3021.8438953363316, + -749.932767337032, + 48.90409410122491 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 3019.2458191249784, + -748.432767337032, + 48.90409410122491 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 3016.6477429136253, + -746.932767337032, + 48.90409410122491 + ], + "type": "stop", + "value": 0, + "yaw": 2.617993877991466 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2944.0, + -732.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_23-13-27_217704412/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_23-13-27_217704412/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..35d4a38498a41fbe951594ad342bc8a853695061 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_23-13-27_217704412/pose.jsonl @@ -0,0 +1,353 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1443.6509795510399, + 1639.1235215138176, + 54.6837748434316 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1441.0529033396865, + 1637.6235215138176, + 54.6837748434316 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1438.4548271283331, + 1636.1235215138176, + 54.6837748434316 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1435.8567509169798, + 1634.6235215138176, + 54.6837748434316 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1433.2586747056264, + 1633.1235215138176, + 54.6837748434316 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1430.660598494273, + 1631.6235215138176, + 54.6837748434316 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1428.0625222829196, + 1630.1235215138176, + 54.6837748434316 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1425.4644460715663, + 1628.6235215138176, + 54.6837748434316 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1422.866369860213, + 1627.1235215138176, + 54.6837748434316 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1420.2682936488595, + 1625.6235215138176, + 54.6837748434316 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1417.6702174375062, + 1624.1235215138176, + 54.6837748434316 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1415.0721412261528, + 1622.6235215138176, + 54.6837748434316 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1412.4740650147994, + 1621.1235215138176, + 54.6837748434316 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1409.875988803446, + 1619.6235215138176, + 54.6837748434316 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1407.2779125920927, + 1618.1235215138176, + 54.6837748434316 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1404.6798363807393, + 1616.6235215138176, + 54.6837748434316 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1402.081760169386, + 1615.1235215138176, + 54.6837748434316 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1399.4836839580325, + 1613.6235215138176, + 54.6837748434316 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1399.4836839580325, + 1613.6235215138176, + 54.6837748434316 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1396.4836839580325, + 1613.6235215138176, + 54.6837748434316 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1393.4836839580325, + 1613.6235215138176, + 54.6837748434316 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1390.4836839580325, + 1613.6235215138176, + 54.6837748434316 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1387.4836839580325, + 1613.6235215138176, + 54.6837748434316 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1384.4836839580325, + 1613.6235215138176, + 54.6837748434316 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1381.4836839580325, + 1613.6235215138176, + 54.6837748434316 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1378.4836839580325, + 1613.6235215138176, + 54.6837748434316 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1356.0, + 1604.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_23-14-1_32321825/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_23-14-1_32321825/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..54f7fa7a0eb1fa3273490229c9996bd8327f57fa --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_23-14-1_32321825/pose.jsonl @@ -0,0 +1,171 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1931.766264125066, + 1335.617764813595, + 63.97700820588044 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1931.766264125066, + 1332.617764813595, + 63.97700820588044 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1931.766264125066, + 1329.617764813595, + 63.97700820588044 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1931.766264125066, + 1326.617764813595, + 63.97700820588044 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1931.766264125066, + 1323.617764813595, + 63.97700820588044 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1931.766264125066, + 1320.617764813595, + 63.97700820588044 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1931.766264125066, + 1317.617764813595, + 63.97700820588044 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1931.766264125066, + 1314.617764813595, + 63.97700820588044 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1931.766264125066, + 1311.617764813595, + 63.97700820588044 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1931.766264125066, + 1308.617764813595, + 63.97700820588044 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1931.766264125066, + 1305.617764813595, + 63.97700820588044 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1931.766264125066, + 1302.617764813595, + 63.97700820588044 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1932.0, + 1268.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_23-14-47_831220360/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_23-14-47_831220360/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..666b6d9cc8858e544660a8207b2cc58862a602c4 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_23-14-47_831220360/pose.jsonl @@ -0,0 +1,327 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 967.8221274990012, + -539.400152786601, + 66.43648950075877 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 969.3221274990012, + -536.8020765752476, + 66.43648950075877 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 970.8221274990012, + -534.2040003638942, + 66.43648950075877 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 972.3221274990012, + -531.6059241525409, + 66.43648950075877 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 973.8221274990012, + -529.0078479411875, + 66.43648950075877 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 975.3221274990012, + -526.4097717298341, + 66.43648950075877 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 976.8221274990012, + -523.8116955184807, + 66.43648950075877 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 978.3221274990012, + -521.2136193071274, + 66.43648950075877 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 979.8221274990012, + -518.615543095774, + 66.43648950075877 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 981.3221274990012, + -516.0174668844206, + 66.43648950075877 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 982.8221274990012, + -513.4193906730673, + 66.43648950075877 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 984.3221274990012, + -510.82131446171394, + 66.43648950075877 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 985.8221274990012, + -508.2232382503606, + 66.43648950075877 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 987.3221274990012, + -505.6251620390073, + 66.43648950075877 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 988.8221274990012, + -503.027085827654, + 66.43648950075877 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 990.3221274990012, + -500.4290096163007, + 66.43648950075877 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 991.8221274990012, + -497.83093340494736, + 66.43648950075877 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 993.3221274990012, + -495.23285719359404, + 66.43648950075877 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 994.8221274990012, + -492.6347809822407, + 66.43648950075877 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 996.3221274990012, + -490.0367047708874, + 66.43648950075877 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 997.8221274990012, + -487.4386285595341, + 66.43648950075877 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 999.3221274990012, + -484.8405523481808, + 66.43648950075877 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1000.8221274990012, + -482.24247613682746, + 66.43648950075877 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1002.3221274990012, + -479.64439992547415, + 66.43648950075877 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1016.0, + -460.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_23-16-41_1267733606/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_23-16-41_1267733606/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e770fec0cafe0a1b6b5c250c9ef74a9ea4260f08 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_23-16-41_1267733606/pose.jsonl @@ -0,0 +1,223 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 91.51852894053519, + -88.08442147651022, + 66.69182874102077 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 88.51852894053519, + -88.08442147651022, + 66.69182874102077 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 85.51852894053519, + -88.08442147651022, + 66.69182874102077 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 82.51852894053519, + -88.08442147651022, + 66.69182874102077 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 79.51852894053519, + -88.08442147651022, + 66.69182874102077 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 76.51852894053519, + -88.08442147651022, + 66.69182874102077 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 76.51852894053519, + -88.08442147651022, + 66.69182874102077 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 73.92045272918187, + -86.58442147651022, + 66.69182874102077 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 71.32237651782856, + -85.08442147651022, + 66.69182874102077 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 68.72430030647524, + -83.58442147651022, + 66.69182874102077 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 66.12622409512193, + -82.08442147651022, + 66.69182874102077 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 63.52814788376861, + -80.58442147651022, + 66.69182874102077 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 63.52814788376861, + -80.58442147651022, + 66.69182874102077 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 60.52814788376861, + -80.58442147651022, + 66.69182874102077 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 57.52814788376861, + -80.58442147651022, + 66.69182874102077 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 54.52814788376861, + -80.58442147651022, + 66.69182874102077 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 8.0, + -68.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_23-22-10_1212052176/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_23-22-10_1212052176/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3c1c432a68f48d2bbe7553064715b783ffee307a --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_23-22-10_1212052176/pose.jsonl @@ -0,0 +1,158 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2122.9614458404085, + -2283.833263850328, + 40.942912365032164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2125.9614458404085, + -2283.833263850328, + 40.942912365032164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2128.9614458404085, + -2283.833263850328, + 40.942912365032164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2131.9614458404085, + -2283.833263850328, + 40.942912365032164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2134.9614458404085, + -2283.833263850328, + 40.942912365032164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2137.9614458404085, + -2283.833263850328, + 40.942912365032164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2140.9614458404085, + -2283.833263850328, + 40.942912365032164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2143.9614458404085, + -2283.833263850328, + 40.942912365032164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2146.9614458404085, + -2283.833263850328, + 40.942912365032164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2149.9614458404085, + -2283.833263850328, + 40.942912365032164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2152.9614458404085, + -2283.833263850328, + 40.942912365032164 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2212.0, + -2284.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_23-23-17_230891466/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_23-23-17_230891466/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e63087ef1af61c01c4c84abb3b978b85f8062b3d --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_23-23-17_230891466/pose.jsonl @@ -0,0 +1,132 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -596.6677923794763, + -2466.3099203117335, + 40.97572367024028 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -596.6677923794763, + -2463.3099203117335, + 40.97572367024028 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -596.6677923794763, + -2460.3099203117335, + 40.97572367024028 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -596.6677923794763, + -2457.3099203117335, + 40.97572367024028 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -596.6677923794763, + -2454.3099203117335, + 40.97572367024028 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -596.6677923794763, + -2451.3099203117335, + 40.97572367024028 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -596.6677923794763, + -2448.3099203117335, + 40.97572367024028 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -596.6677923794763, + -2445.3099203117335, + 40.97572367024028 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -596.6677923794763, + -2442.3099203117335, + 40.97572367024028 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -596.0, + -2400.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_23-23-26_1408564037/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_23-23-26_1408564037/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..70b28bd16f6af64b6f24006578d48f14a7ab84d7 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_23-23-26_1408564037/pose.jsonl @@ -0,0 +1,158 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1404.1501929466635, + 2095.442425753298, + 62.96521090193831 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1402.6501929466635, + 2098.040501964651, + 62.96521090193831 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1401.1501929466635, + 2100.638578176004, + 62.96521090193831 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1399.6501929466635, + 2103.2366543873572, + 62.96521090193831 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1398.1501929466635, + 2105.8347305987104, + 62.96521090193831 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1396.6501929466635, + 2108.4328068100635, + 62.96521090193831 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1395.1501929466635, + 2111.0308830214167, + 62.96521090193831 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1393.6501929466635, + 2113.62895923277, + 62.96521090193831 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1393.6501929466635, + 2113.62895923277, + 62.96521090193831 + ], + "type": "go straight", + "value": 3, + "yaw": 1.570796326794925 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1393.6501929466635, + 2116.62895923277, + 62.96521090193831 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1393.6501929466635, + 2119.62895923277, + 62.96521090193831 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1380.0, + 2160.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_23-34-16_1932874974/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_23-34-16_1932874974/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d8827683cde45c88c037b97a75364a587ecdabaf --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_23-34-16_1932874974/pose.jsonl @@ -0,0 +1,249 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3719.9033347885998, + 1192.803531239633, + 57.93546958596397 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3719.9033347885998, + 1189.803531239633, + 57.93546958596397 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3719.9033347885998, + 1186.803531239633, + 57.93546958596397 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3719.9033347885998, + 1183.803531239633, + 57.93546958596397 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3719.9033347885998, + 1180.803531239633, + 57.93546958596397 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3719.9033347885998, + 1177.803531239633, + 57.93546958596397 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3719.9033347885998, + 1174.803531239633, + 57.93546958596397 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3719.9033347885998, + 1171.803531239633, + 57.93546958596397 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 3719.9033347885998, + 1168.803531239633, + 57.93546958596397 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 3719.9033347885998, + 1165.803531239633, + 57.93546958596397 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 3719.9033347885998, + 1162.803531239633, + 57.93546958596397 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 3719.9033347885998, + 1159.803531239633, + 57.93546958596397 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 3719.9033347885998, + 1156.803531239633, + 57.93546958596397 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 3719.9033347885998, + 1153.803531239633, + 57.93546958596397 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 3719.9033347885998, + 1150.803531239633, + 57.93546958596397 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 3719.9033347885998, + 1147.803531239633, + 57.93546958596397 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 3719.9033347885998, + 1144.803531239633, + 57.93546958596397 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 3719.9033347885998, + 1141.803531239633, + 57.93546958596397 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3720.0, + 1124.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_23-36-5_139536873/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_23-36-5_139536873/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3e531815684e2507494968529d49570105f7a26c --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_23-36-5_139536873/pose.jsonl @@ -0,0 +1,210 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1740.3794801341028, + -516.510378285121, + 63.501533232414715 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1742.9775563454562, + -515.010378285121, + 63.501533232414715 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1745.5756325568095, + -513.510378285121, + 63.501533232414715 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1748.173708768163, + -512.010378285121, + 63.501533232414715 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1750.7717849795163, + -510.51037828512096, + 63.501533232414715 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1753.3698611908696, + -509.01037828512096, + 63.501533232414715 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1755.967937402223, + -507.51037828512096, + 63.501533232414715 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1758.5660136135764, + -506.01037828512096, + 63.501533232414715 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1761.1640898249298, + -504.51037828512096, + 63.501533232414715 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1763.7621660362831, + -503.01037828512096, + 63.501533232414715 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1766.3602422476365, + -501.51037828512096, + 63.501533232414715 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1768.9583184589899, + -500.01037828512096, + 63.501533232414715 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1771.5563946703433, + -498.51037828512096, + 63.501533232414715 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1771.5563946703433, + -498.51037828512096, + 63.501533232414715 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1774.5563946703433, + -498.51037828512096, + 63.501533232414715 + ], + "type": "stop", + "value": 0, + "yaw": -9.43689570931383e-15 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1804.0, + -484.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_23-39-29_1366405247/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_23-39-29_1366405247/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4bd8a7b20d6adc904ed3d66420ae4555c943446b --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_23-39-29_1366405247/pose.jsonl @@ -0,0 +1,379 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1096.053449013038, + 1374.037575520074, + 69.49851112504322 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1096.053449013038, + 1377.037575520074, + 69.49851112504322 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1096.053449013038, + 1380.037575520074, + 69.49851112504322 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1096.053449013038, + 1383.037575520074, + 69.49851112504322 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1096.053449013038, + 1386.037575520074, + 69.49851112504322 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1096.053449013038, + 1389.037575520074, + 69.49851112504322 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1096.053449013038, + 1392.037575520074, + 69.49851112504322 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1096.053449013038, + 1395.037575520074, + 69.49851112504322 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1096.053449013038, + 1398.037575520074, + 69.49851112504322 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1096.053449013038, + 1401.037575520074, + 69.49851112504322 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1096.053449013038, + 1404.037575520074, + 69.49851112504322 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1096.053449013038, + 1407.037575520074, + 69.49851112504322 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1096.053449013038, + 1410.037575520074, + 69.49851112504322 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1096.053449013038, + 1413.037575520074, + 69.49851112504322 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1096.053449013038, + 1416.037575520074, + 69.49851112504322 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1096.053449013038, + 1419.037575520074, + 69.49851112504322 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1096.053449013038, + 1422.037575520074, + 69.49851112504322 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1096.053449013038, + 1425.037575520074, + 69.49851112504322 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1096.053449013038, + 1425.037575520074, + 69.49851112504322 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1094.553449013038, + 1427.6356517314273, + 69.49851112504322 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1093.053449013038, + 1430.2337279427807, + 69.49851112504322 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1091.553449013038, + 1432.831804154134, + 69.49851112504322 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1090.053449013038, + 1435.4298803654874, + 69.49851112504322 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1088.553449013038, + 1438.0279565768408, + 69.49851112504322 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1087.053449013038, + 1440.6260327881942, + 69.49851112504322 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1087.053449013038, + 1440.6260327881942, + 69.49851112504322 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1087.053449013038, + 1443.6260327881942, + 69.49851112504322 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1087.053449013038, + 1446.6260327881942, + 69.49851112504322 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1084.0, + 1468.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_23-44-23_866360494/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_23-44-23_866360494/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..383d7b45766162f9b384db5fedf568865670a6be --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_23-44-23_866360494/pose.jsonl @@ -0,0 +1,379 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -906.980232507213, + 926.1081745315588, + 63.609800494551806 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -903.980232507213, + 926.1081745315588, + 63.609800494551806 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -900.980232507213, + 926.1081745315588, + 63.609800494551806 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -897.980232507213, + 926.1081745315588, + 63.609800494551806 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -894.980232507213, + 926.1081745315588, + 63.609800494551806 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -891.980232507213, + 926.1081745315588, + 63.609800494551806 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -888.980232507213, + 926.1081745315588, + 63.609800494551806 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -885.980232507213, + 926.1081745315588, + 63.609800494551806 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -882.980232507213, + 926.1081745315588, + 63.609800494551806 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -879.980232507213, + 926.1081745315588, + 63.609800494551806 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -876.980232507213, + 926.1081745315588, + 63.609800494551806 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -873.980232507213, + 926.1081745315588, + 63.609800494551806 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -870.980232507213, + 926.1081745315588, + 63.609800494551806 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -867.980232507213, + 926.1081745315588, + 63.609800494551806 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -864.980232507213, + 926.1081745315588, + 63.609800494551806 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -861.980232507213, + 926.1081745315588, + 63.609800494551806 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -858.980232507213, + 926.1081745315588, + 63.609800494551806 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -855.980232507213, + 926.1081745315588, + 63.609800494551806 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -855.980232507213, + 926.1081745315588, + 63.609800494551806 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -853.3821562958597, + 927.6081745315588, + 63.609800494551806 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -850.7840800845063, + 929.1081745315588, + 63.609800494551806 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -848.1860038731529, + 930.6081745315588, + 63.609800494551806 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -845.5879276617995, + 932.1081745315588, + 63.609800494551806 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -842.9898514504462, + 933.6081745315588, + 63.609800494551806 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -840.3917752390928, + 935.1081745315588, + 63.609800494551806 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -837.7936990277394, + 936.6081745315588, + 63.609800494551806 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -835.195622816386, + 938.1081745315588, + 63.609800494551806 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -832.5975466050327, + 939.6081745315588, + 63.609800494551806 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -812.0, + 944.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_23-49-28_876085544/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_23-49-28_876085544/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3fd4c1665fac7ca26ded7ecf914397619baaf575 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_23-49-28_876085544/pose.jsonl @@ -0,0 +1,327 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1494.2015738104064, + -483.4540364593193, + 55.6161409516186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1492.7015738104064, + -486.0521126706726, + 55.6161409516186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1491.2015738104064, + -488.65018888202593, + 55.6161409516186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1489.7015738104064, + -491.24826509337925, + 55.6161409516186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1488.2015738104064, + -493.84634130473256, + 55.6161409516186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1486.7015738104064, + -496.4444175160859, + 55.6161409516186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1485.2015738104064, + -499.0424937274392, + 55.6161409516186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1483.7015738104064, + -501.6405699387925, + 55.6161409516186 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1483.7015738104064, + -501.6405699387925, + 55.6161409516186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1481.103497599053, + -503.1405699387925, + 55.6161409516186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1478.5054213876997, + -504.6405699387925, + 55.6161409516186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1475.9073451763463, + -506.1405699387925, + 55.6161409516186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1473.309268964993, + -507.6405699387925, + 55.6161409516186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1470.7111927536396, + -509.1405699387925, + 55.6161409516186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1468.1131165422862, + -510.6405699387925, + 55.6161409516186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1465.5150403309328, + -512.1405699387925, + 55.6161409516186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1462.9169641195795, + -513.6405699387925, + 55.6161409516186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1460.318887908226, + -515.1405699387925, + 55.6161409516186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1457.7208116968727, + -516.6405699387925, + 55.6161409516186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1455.1227354855193, + -518.1405699387925, + 55.6161409516186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1452.524659274166, + -519.6405699387925, + 55.6161409516186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1449.9265830628126, + -521.1405699387925, + 55.6161409516186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1447.3285068514592, + -522.6405699387925, + 55.6161409516186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1444.7304306401059, + -524.1405699387925, + 55.6161409516186 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1416.0, + -544.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_23-54-55_1146810336/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_23-54-55_1146810336/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e0cf1d7f87e380b9caf09d2bbfbb50a8fe2d758f --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_23-54-55_1146810336/pose.jsonl @@ -0,0 +1,119 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3075.617333591035, + -505.87987227460314, + 40.00954363724413 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3074.117333591035, + -503.28179606324983, + 40.00954363724413 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3072.617333591035, + -500.6837198518965, + 40.00954363724413 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3071.117333591035, + -498.0856436405432, + 40.00954363724413 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3069.617333591035, + -495.4875674291899, + 40.00954363724413 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3068.117333591035, + -492.88949121783656, + 40.00954363724413 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3066.617333591035, + -490.29141500648325, + 40.00954363724413 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3065.117333591035, + -487.69333879512993, + 40.00954363724413 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3032.0, + -436.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_23-56-17_1184154091/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_23-56-17_1184154091/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..94fa2d0561a19ef93601d74046e7ecc30e1cd3dc --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_23-56-17_1184154091/pose.jsonl @@ -0,0 +1,275 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1532.327018137935, + -1926.0198921368674, + 55.99950658907693 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1529.327018137935, + -1926.0198921368674, + 55.99950658907693 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1526.327018137935, + -1926.0198921368674, + 55.99950658907693 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1523.327018137935, + -1926.0198921368674, + 55.99950658907693 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1520.327018137935, + -1926.0198921368674, + 55.99950658907693 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1517.327018137935, + -1926.0198921368674, + 55.99950658907693 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1514.327018137935, + -1926.0198921368674, + 55.99950658907693 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1511.327018137935, + -1926.0198921368674, + 55.99950658907693 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1508.327018137935, + -1926.0198921368674, + 55.99950658907693 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1505.327018137935, + -1926.0198921368674, + 55.99950658907693 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1502.327018137935, + -1926.0198921368674, + 55.99950658907693 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1502.327018137935, + -1926.0198921368674, + 55.99950658907693 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1502.327018137935, + -1926.0198921368674, + 55.99950658907693 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1500.827018137935, + -1923.421815925514, + 55.99950658907693 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1499.327018137935, + -1920.8237397141606, + 55.99950658907693 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1497.827018137935, + -1918.2256635028073, + 55.99950658907693 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1497.827018137935, + -1918.2256635028073, + 55.99950658907693 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1495.2289419265817, + -1916.7256635028073, + 55.99950658907693 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1492.6308657152283, + -1915.2256635028073, + 55.99950658907693 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1490.032789503875, + -1913.7256635028073, + 55.99950658907693 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1464.0, + -1908.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_23-57-38_191520958/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_23-57-38_191520958/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a7e0f13d88a6281a07a9828fa4763bda478b134e --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_23-57-38_191520958/pose.jsonl @@ -0,0 +1,67 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 889.6115376224715, + 2351.714426048358, + 67.33701958907494 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 888.1115376224715, + 2354.312502259711, + 67.33701958907494 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 886.6115376224715, + 2356.910578471064, + 67.33701958907494 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 885.1115376224715, + 2359.5086546824173, + 67.33701958907494 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023932237 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 832.0, + 2428.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_23-6-35_1130543363/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_23-6-35_1130543363/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..43ce79589d7f972a1354fa3bb18a268d4f66d829 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_23-6-35_1130543363/pose.jsonl @@ -0,0 +1,327 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -177.97435626873482, + -2057.823663102369, + 69.98868592362993 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -179.47435626873482, + -2055.225586891016, + 69.98868592362993 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -180.97435626873482, + -2052.627510679663, + 69.98868592362993 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -182.47435626873482, + -2050.02943446831, + 69.98868592362993 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -183.97435626873482, + -2047.4313582569564, + 69.98868592362993 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -185.47435626873482, + -2044.833282045603, + 69.98868592362993 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -186.97435626873482, + -2042.2352058342497, + 69.98868592362993 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -188.47435626873482, + -2039.6371296228963, + 69.98868592362993 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -189.97435626873482, + -2037.039053411543, + 69.98868592362993 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -191.47435626873482, + -2034.4409772001895, + 69.98868592362993 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -192.97435626873482, + -2031.8429009888362, + 69.98868592362993 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -194.47435626873482, + -2029.2448247774828, + 69.98868592362993 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -195.97435626873482, + -2026.6467485661294, + 69.98868592362993 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -197.47435626873482, + -2024.048672354776, + 69.98868592362993 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -198.97435626873482, + -2021.4505961434227, + 69.98868592362993 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -200.47435626873482, + -2018.8525199320693, + 69.98868592362993 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -200.47435626873482, + -2018.8525199320693, + 69.98868592362993 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -203.07243248008814, + -2017.3525199320693, + 69.98868592362993 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -205.67050869144146, + -2015.8525199320693, + 69.98868592362993 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -208.26858490279477, + -2014.3525199320693, + 69.98868592362993 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -210.8666611141481, + -2012.8525199320693, + 69.98868592362993 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -213.4647373255014, + -2011.3525199320693, + 69.98868592362993 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -216.06281353685472, + -2009.8525199320693, + 69.98868592362993 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -218.66088974820804, + -2008.3525199320693, + 69.98868592362993 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -236.0, + -1988.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_23-8-16_10604139/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_23-8-16_10604139/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ab23316ac4c806bba44f75544afadce98e2300f0 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_23-8-16_10604139/pose.jsonl @@ -0,0 +1,210 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -73.85767229567531, + -31.040710079772126, + 49.24087394807752 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -75.35767229567531, + -33.63878629112544, + 49.24087394807752 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -76.85767229567531, + -36.23686250247876, + 49.24087394807752 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -78.35767229567531, + -38.834938713832074, + 49.24087394807752 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -79.85767229567531, + -41.43301492518539, + 49.24087394807752 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -81.35767229567531, + -44.031091136538706, + 49.24087394807752 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -82.85767229567531, + -46.62916734789202, + 49.24087394807752 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -84.35767229567531, + -49.22724355924534, + 49.24087394807752 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -85.85767229567531, + -51.825319770598654, + 49.24087394807752 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -87.35767229567531, + -54.42339598195197, + 49.24087394807752 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -88.85767229567531, + -57.021472193305286, + 49.24087394807752 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -90.35767229567531, + -59.6195484046586, + 49.24087394807752 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -91.85767229567531, + -62.21762461601192, + 49.24087394807752 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -91.85767229567531, + -62.21762461601192, + 49.24087394807752 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -91.85767229567531, + -65.21762461601192, + 49.24087394807752 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -104.0, + -96.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_23-9-12_43695777/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_23-9-12_43695777/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d89a9439a3cad965f2a3dd112774f3873bd50e20 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_23-9-12_43695777/pose.jsonl @@ -0,0 +1,327 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1468.9983467350687, + -619.501465939622, + 47.753395043981804 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1467.4983467350687, + -616.9033897282686, + 47.753395043981804 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1465.9983467350687, + -614.3053135169152, + 47.753395043981804 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1464.4983467350687, + -611.7072373055619, + 47.753395043981804 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1462.9983467350687, + -609.1091610942085, + 47.753395043981804 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1461.4983467350687, + -606.5110848828551, + 47.753395043981804 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1459.9983467350687, + -603.9130086715018, + 47.753395043981804 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1458.4983467350687, + -601.3149324601484, + 47.753395043981804 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1456.9983467350687, + -598.716856248795, + 47.753395043981804 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1455.4983467350687, + -596.1187800374416, + 47.753395043981804 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1455.4983467350687, + -596.1187800374416, + 47.753395043981804 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1455.4983467350687, + -593.1187800374416, + 47.753395043981804 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1455.4983467350687, + -590.1187800374416, + 47.753395043981804 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1455.4983467350687, + -590.1187800374416, + 47.753395043981804 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1453.9983467350687, + -587.5207038260883, + 47.753395043981804 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1452.4983467350687, + -584.9226276147349, + 47.753395043981804 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1450.9983467350687, + -582.3245514033815, + 47.753395043981804 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1449.4983467350687, + -579.7264751920281, + 47.753395043981804 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1449.4983467350687, + -579.7264751920281, + 47.753395043981804 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1446.9002705237153, + -578.2264751920281, + 47.753395043981804 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1444.302194312362, + -576.7264751920281, + 47.753395043981804 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1441.7041181010086, + -575.2264751920281, + 47.753395043981804 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1439.1060418896552, + -573.7264751920281, + 47.753395043981804 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1436.5079656783018, + -572.2264751920281, + 47.753395043981804 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1416.0, + -544.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_23-9-50_297510827/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_23-9-50_297510827/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..43e470c5d16816040f2251f8d86c441101386cbc --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-6_23-9-50_297510827/pose.jsonl @@ -0,0 +1,210 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4176.923487773881, + 168.78022190883428, + 59.50436010907629 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4173.923487773881, + 168.78022190883428, + 59.50436010907629 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4170.923487773881, + 168.78022190883428, + 59.50436010907629 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4167.923487773881, + 168.78022190883428, + 59.50436010907629 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4164.923487773881, + 168.78022190883428, + 59.50436010907629 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4161.923487773881, + 168.78022190883428, + 59.50436010907629 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4158.923487773881, + 168.78022190883428, + 59.50436010907629 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4155.923487773881, + 168.78022190883428, + 59.50436010907629 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4152.923487773881, + 168.78022190883428, + 59.50436010907629 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4149.923487773881, + 168.78022190883428, + 59.50436010907629 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4146.923487773881, + 168.78022190883428, + 59.50436010907629 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4143.923487773881, + 168.78022190883428, + 59.50436010907629 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4140.923487773881, + 168.78022190883428, + 59.50436010907629 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4137.923487773881, + 168.78022190883428, + 59.50436010907629 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4134.923487773881, + 168.78022190883428, + 59.50436010907629 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4100.0, + 172.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_0-1-44_25701533/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_0-1-44_25701533/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1fc804f58652e2b76591199f06d7c6995ee2495f --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_0-1-44_25701533/pose.jsonl @@ -0,0 +1,197 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1386.904776179147, + -2090.8292954685094, + 42.650292408268946 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1384.3066999677935, + -2089.3292954685094, + 42.650292408268946 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1381.7086237564401, + -2087.8292954685094, + 42.650292408268946 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1379.1105475450868, + -2086.3292954685094, + 42.650292408268946 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1376.5124713337334, + -2084.8292954685094, + 42.650292408268946 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1373.91439512238, + -2083.3292954685094, + 42.650292408268946 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1371.3163189110267, + -2081.8292954685094, + 42.650292408268946 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1368.7182426996733, + -2080.3292954685094, + 42.650292408268946 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1366.12016648832, + -2078.8292954685094, + 42.650292408268946 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1366.12016648832, + -2078.8292954685094, + 42.650292408268946 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1364.62016648832, + -2076.231219257156, + 42.650292408268946 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1363.12016648832, + -2073.633143045803, + 42.650292408268946 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1361.62016648832, + -2071.03506683445, + 42.650292408268946 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1360.12016648832, + -2068.436990623097, + 42.650292408268946 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023932237 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1316.0, + -2032.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_0-11-41_298975429/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_0-11-41_298975429/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cd150c118f99b3286ca2f2680cd27ff1b39d0517 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_0-11-41_298975429/pose.jsonl @@ -0,0 +1,197 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2609.3432082292143, + 2391.708261560464, + 43.32622820751605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2612.3432082292143, + 2391.708261560464, + 43.32622820751605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2615.3432082292143, + 2391.708261560464, + 43.32622820751605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2618.3432082292143, + 2391.708261560464, + 43.32622820751605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2621.3432082292143, + 2391.708261560464, + 43.32622820751605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2624.3432082292143, + 2391.708261560464, + 43.32622820751605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2627.3432082292143, + 2391.708261560464, + 43.32622820751605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2630.3432082292143, + 2391.708261560464, + 43.32622820751605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2633.3432082292143, + 2391.708261560464, + 43.32622820751605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 2636.3432082292143, + 2391.708261560464, + 43.32622820751605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2639.3432082292143, + 2391.708261560464, + 43.32622820751605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2642.3432082292143, + 2391.708261560464, + 43.32622820751605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 2645.3432082292143, + 2391.708261560464, + 43.32622820751605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 2648.3432082292143, + 2391.708261560464, + 43.32622820751605 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2680.0, + 2392.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_0-18-0_1743131527/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_0-18-0_1743131527/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5dbf981c9b27211b7a8aa4c36371a43d4e139fd2 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_0-18-0_1743131527/pose.jsonl @@ -0,0 +1,288 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4286.055651433622, + -2932.710593090962, + 69.44322932882952 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4286.055651433622, + -2935.710593090962, + 69.44322932882952 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4286.055651433622, + -2938.710593090962, + 69.44322932882952 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4286.055651433622, + -2941.710593090962, + 69.44322932882952 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4286.055651433622, + -2944.710593090962, + 69.44322932882952 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4286.055651433622, + -2947.710593090962, + 69.44322932882952 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4286.055651433622, + -2950.710593090962, + 69.44322932882952 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4286.055651433622, + -2953.710593090962, + 69.44322932882952 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4286.055651433622, + -2956.710593090962, + 69.44322932882952 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4286.055651433622, + -2959.710593090962, + 69.44322932882952 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4286.055651433622, + -2962.710593090962, + 69.44322932882952 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4286.055651433622, + -2965.710593090962, + 69.44322932882952 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4286.055651433622, + -2968.710593090962, + 69.44322932882952 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4286.055651433622, + -2968.710593090962, + 69.44322932882952 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4287.555651433622, + -2971.308669302315, + 69.44322932882952 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4289.055651433622, + -2973.9067455136683, + 69.44322932882952 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 4290.555651433622, + -2976.5048217250214, + 69.44322932882952 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 4292.055651433622, + -2979.1028979363746, + 69.44322932882952 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 4293.555651433622, + -2981.7009741477277, + 69.44322932882952 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 4295.055651433622, + -2984.299050359081, + 69.44322932882952 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 4296.555651433622, + -2986.897126570434, + 69.44322932882952 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965694 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4300.0, + -3000.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_0-19-0_1690075412/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_0-19-0_1690075412/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5773c5eb6a44ab49cfa12b2952384c2c749cf457 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_0-19-0_1690075412/pose.jsonl @@ -0,0 +1,132 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2712.833375313501, + -497.88228469637687, + 47.334467466429246 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2714.333375313501, + -500.4803609077302, + 47.334467466429246 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2715.833375313501, + -503.0784371190835, + 47.334467466429246 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2717.333375313501, + -505.6765133304368, + 47.334467466429246 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2717.333375313501, + -505.6765133304368, + 47.334467466429246 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2719.9314515248543, + -507.1765133304368, + 47.334467466429246 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2722.5295277362075, + -508.6765133304368, + 47.334467466429246 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2725.1276039475606, + -510.1765133304368, + 47.334467466429246 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2727.7256801589137, + -511.6765133304368, + 47.334467466429246 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755983272 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2776.0, + -564.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_0-2-15_54350259/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_0-2-15_54350259/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7b7623b7e0905e7fd9d6eaf65ac2d364c7e4ad1c --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_0-2-15_54350259/pose.jsonl @@ -0,0 +1,353 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2032.4383000542093, + -212.54965197177353, + 67.99117372464096 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2035.0363762655627, + -211.04965197177353, + 67.99117372464096 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2037.634452476916, + -209.54965197177353, + 67.99117372464096 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2040.2325286882694, + -208.04965197177353, + 67.99117372464096 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2042.8306048996228, + -206.54965197177353, + 67.99117372464096 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2045.4286811109762, + -205.04965197177353, + 67.99117372464096 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2048.0267573223296, + -203.54965197177353, + 67.99117372464096 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2050.6248335336827, + -202.04965197177353, + 67.99117372464096 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2053.222909745036, + -200.54965197177353, + 67.99117372464096 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 2055.820985956389, + -199.04965197177353, + 67.99117372464096 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2058.419062167742, + -197.54965197177353, + 67.99117372464096 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2061.0171383790953, + -196.04965197177353, + 67.99117372464096 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 2063.6152145904484, + -194.54965197177353, + 67.99117372464096 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 2066.2132908018016, + -193.04965197177353, + 67.99117372464096 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 2068.8113670131547, + -191.54965197177353, + 67.99117372464096 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 2071.409443224508, + -190.04965197177353, + 67.99117372464096 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 2074.007519435861, + -188.54965197177353, + 67.99117372464096 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 2076.605595647214, + -187.04965197177353, + 67.99117372464096 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 2079.2036718585673, + -185.54965197177353, + 67.99117372464096 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 2081.8017480699204, + -184.04965197177353, + 67.99117372464096 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 2084.3998242812736, + -182.54965197177353, + 67.99117372464096 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 2086.9979004926267, + -181.04965197177353, + 67.99117372464096 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 2089.59597670398, + -179.54965197177353, + 67.99117372464096 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 2092.194052915333, + -178.04965197177353, + 67.99117372464096 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 2094.792129126686, + -176.54965197177353, + 67.99117372464096 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 2097.3902053380393, + -175.04965197177353, + 67.99117372464096 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755983272 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2116.0, + -168.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_0-20-51_678006046/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_0-20-51_678006046/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..990a8099a5d9b30a118475a229c8fdac80e4462b --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_0-20-51_678006046/pose.jsonl @@ -0,0 +1,366 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 773.881088077445, + -214.94796904147023, + 58.337931968157605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 776.881088077445, + -214.94796904147023, + 58.337931968157605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 779.881088077445, + -214.94796904147023, + 58.337931968157605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 782.881088077445, + -214.94796904147023, + 58.337931968157605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 785.881088077445, + -214.94796904147023, + 58.337931968157605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 788.881088077445, + -214.94796904147023, + 58.337931968157605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 791.881088077445, + -214.94796904147023, + 58.337931968157605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 794.881088077445, + -214.94796904147023, + 58.337931968157605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 797.881088077445, + -214.94796904147023, + 58.337931968157605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 800.881088077445, + -214.94796904147023, + 58.337931968157605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 803.881088077445, + -214.94796904147023, + 58.337931968157605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 806.881088077445, + -214.94796904147023, + 58.337931968157605 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 806.881088077445, + -214.94796904147023, + 58.337931968157605 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 806.881088077445, + -214.94796904147023, + 58.337931968157605 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 808.381088077445, + -212.34989283011691, + 58.337931968157605 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 809.881088077445, + -209.7518166187636, + 58.337931968157605 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 811.381088077445, + -207.15374040741028, + 58.337931968157605 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 812.881088077445, + -204.55566419605697, + 58.337931968157605 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 814.381088077445, + -201.95758798470365, + 58.337931968157605 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 815.881088077445, + -199.35951177335033, + 58.337931968157605 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 815.881088077445, + -199.35951177335033, + 58.337931968157605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 818.4791642887983, + -197.85951177335033, + 58.337931968157605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 821.0772405001517, + -196.35951177335033, + 58.337931968157605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 823.675316711505, + -194.85951177335033, + 58.337931968157605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 826.2733929228584, + -193.35951177335033, + 58.337931968157605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 828.8714691342118, + -191.85951177335033, + 58.337931968157605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 831.4695453455652, + -190.35951177335033, + 58.337931968157605 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 856.0, + -180.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_0-22-19_1625315128/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_0-22-19_1625315128/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0a533e54e0d889691b2801136d90882d4c79503c --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_0-22-19_1625315128/pose.jsonl @@ -0,0 +1,106 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2959.4767287353916, + 2432.1526909480017, + 54.925269172568264 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2962.4767287353916, + 2432.1526909480017, + 54.925269172568264 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2965.4767287353916, + 2432.1526909480017, + 54.925269172568264 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2965.4767287353916, + 2432.1526909480017, + 54.925269172568264 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2968.0748049467447, + 2433.6526909480017, + 54.925269172568264 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2970.672881158098, + 2435.1526909480017, + 54.925269172568264 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2973.270957369451, + 2436.6526909480017, + 54.925269172568264 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755983272 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3024.0, + 2456.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_0-26-4_1498119944/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_0-26-4_1498119944/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0cc817bfae28090110e0bba9c1f1d71c7eab7a63 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_0-26-4_1498119944/pose.jsonl @@ -0,0 +1,184 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2906.5460763170845, + 1169.4029032342844, + 40.24197389525749 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2908.0460763170845, + 1166.804827022931, + 40.24197389525749 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2909.5460763170845, + 1164.2067508115776, + 40.24197389525749 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2911.0460763170845, + 1161.6086746002243, + 40.24197389525749 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2912.5460763170845, + 1159.010598388871, + 40.24197389525749 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2914.0460763170845, + 1156.4125221775175, + 40.24197389525749 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2915.5460763170845, + 1153.8144459661642, + 40.24197389525749 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2917.0460763170845, + 1151.2163697548108, + 40.24197389525749 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2918.5460763170845, + 1148.6182935434574, + 40.24197389525749 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2920.0460763170845, + 1146.020217332104, + 40.24197389525749 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2920.0460763170845, + 1146.020217332104, + 40.24197389525749 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2922.6441525284376, + 1144.520217332104, + 40.24197389525749 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2925.242228739791, + 1143.020217332104, + 40.24197389525749 + ], + "type": "stop", + "value": 0, + "yaw": -2.617993877991466 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2944.0, + 1120.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_0-27-42_1725868784/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_0-27-42_1725868784/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2a5baee9070f95d2c1aacd675ce9030e748fb824 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_0-27-42_1725868784/pose.jsonl @@ -0,0 +1,249 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3301.875989990254, + 224.35203201694375, + 63.04848392365953 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3303.375989990254, + 226.95010822829707, + 63.04848392365953 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3304.875989990254, + 229.54818443965038, + 63.04848392365953 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3306.375989990254, + 232.1462606510037, + 63.04848392365953 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3307.875989990254, + 234.74433686235702, + 63.04848392365953 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3309.375989990254, + 237.34241307371033, + 63.04848392365953 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3310.875989990254, + 239.94048928506365, + 63.04848392365953 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3312.375989990254, + 242.53856549641696, + 63.04848392365953 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 3313.875989990254, + 245.13664170777028, + 63.04848392365953 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 3315.375989990254, + 247.7347179191236, + 63.04848392365953 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 3316.875989990254, + 250.3327941304769, + 63.04848392365953 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 3318.375989990254, + 252.93087034183023, + 63.04848392365953 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 3319.875989990254, + 255.52894655318354, + 63.04848392365953 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 3319.875989990254, + 255.52894655318354, + 63.04848392365953 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 3319.875989990254, + 258.5289465531836, + 63.04848392365953 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 3319.875989990254, + 261.5289465531836, + 63.04848392365953 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 3319.875989990254, + 264.5289465531836, + 63.04848392365953 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 3319.875989990254, + 267.5289465531836, + 63.04848392365953 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3328.0, + 288.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_0-30-56_1645803002/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_0-30-56_1645803002/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7300302252ddf999f9b4916781cc08877bcc84b5 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_0-30-56_1645803002/pose.jsonl @@ -0,0 +1,210 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 892.7316359131081, + 257.6181522683977, + 67.90520490130841 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 890.1335597017548, + 259.1181522683977, + 67.90520490130841 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 887.5354834904015, + 260.6181522683977, + 67.90520490130841 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 884.9374072790481, + 262.1181522683977, + 67.90520490130841 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 882.3393310676947, + 263.6181522683977, + 67.90520490130841 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 879.7412548563414, + 265.1181522683977, + 67.90520490130841 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 877.143178644988, + 266.6181522683977, + 67.90520490130841 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 874.5451024336346, + 268.1181522683977, + 67.90520490130841 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 874.5451024336346, + 268.1181522683977, + 67.90520490130841 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 873.0451024336346, + 270.716228479751, + 67.90520490130841 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 871.5451024336346, + 273.3143046911043, + 67.90520490130841 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 870.0451024336346, + 275.91238090245764, + 67.90520490130841 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 868.5451024336346, + 278.51045711381096, + 67.90520490130841 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 867.0451024336346, + 281.1085333251643, + 67.90520490130841 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 865.5451024336346, + 283.7066095365176, + 67.90520490130841 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 840.0, + 308.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_0-35-28_120214107/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_0-35-28_120214107/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..51d889d21f927672ca80c2f1a9204f9a4eedc956 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_0-35-28_120214107/pose.jsonl @@ -0,0 +1,340 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4850.922860732876, + 735.4366505503219, + 45.59086980232415 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4850.922860732876, + 738.4366505503219, + 45.59086980232415 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4850.922860732876, + 741.4366505503219, + 45.59086980232415 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4850.922860732876, + 744.4366505503219, + 45.59086980232415 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4850.922860732876, + 747.4366505503219, + 45.59086980232415 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4850.922860732876, + 750.4366505503219, + 45.59086980232415 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4850.922860732876, + 753.4366505503219, + 45.59086980232415 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4850.922860732876, + 756.4366505503219, + 45.59086980232415 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4850.922860732876, + 759.4366505503219, + 45.59086980232415 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4850.922860732876, + 762.4366505503219, + 45.59086980232415 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4850.922860732876, + 762.4366505503219, + 45.59086980232415 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4849.422860732876, + 765.0347267616753, + 45.59086980232415 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4847.922860732876, + 767.6328029730287, + 45.59086980232415 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4846.422860732876, + 770.230879184382, + 45.59086980232415 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4844.922860732876, + 772.8289553957354, + 45.59086980232415 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4843.422860732876, + 775.4270316070888, + 45.59086980232415 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 4841.922860732876, + 778.0251078184422, + 45.59086980232415 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 4840.422860732876, + 780.6231840297955, + 45.59086980232415 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 4838.922860732876, + 783.2212602411489, + 45.59086980232415 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 4837.422860732876, + 785.8193364525023, + 45.59086980232415 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 4835.922860732876, + 788.4174126638557, + 45.59086980232415 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 4835.922860732876, + 788.4174126638557, + 45.59086980232415 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 4835.922860732876, + 791.4174126638557, + 45.59086980232415 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 4835.922860732876, + 794.4174126638557, + 45.59086980232415 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 4835.922860732876, + 797.4174126638557, + 45.59086980232415 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4828.0, + 828.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_0-37-50_1644730116/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_0-37-50_1644730116/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..10e29389cfb6f56fbc162919c247b42e8eef623e --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_0-37-50_1644730116/pose.jsonl @@ -0,0 +1,275 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2193.6005768458353, + -1032.4677618129292, + 57.78710923061956 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2193.6005768458353, + -1035.4677618129292, + 57.78710923061956 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2193.6005768458353, + -1038.4677618129292, + 57.78710923061956 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2193.6005768458353, + -1041.4677618129292, + 57.78710923061956 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2193.6005768458353, + -1044.4677618129292, + 57.78710923061956 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2193.6005768458353, + -1047.4677618129292, + 57.78710923061956 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2193.6005768458353, + -1050.4677618129292, + 57.78710923061956 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2193.6005768458353, + -1053.4677618129292, + 57.78710923061956 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2193.6005768458353, + -1056.4677618129292, + 57.78710923061956 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2193.6005768458353, + -1059.4677618129292, + 57.78710923061956 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2193.6005768458353, + -1062.4677618129292, + 57.78710923061956 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2193.6005768458353, + -1065.4677618129292, + 57.78710923061956 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2193.6005768458353, + -1068.4677618129292, + 57.78710923061956 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2193.6005768458353, + -1071.4677618129292, + 57.78710923061956 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2193.6005768458353, + -1074.4677618129292, + 57.78710923061956 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2193.6005768458353, + -1077.4677618129292, + 57.78710923061956 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2193.6005768458353, + -1080.4677618129292, + 57.78710923061956 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2193.6005768458353, + -1083.4677618129292, + 57.78710923061956 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2193.6005768458353, + -1086.4677618129292, + 57.78710923061956 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2193.6005768458353, + -1089.4677618129292, + 57.78710923061956 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2196.0, + -1108.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_0-40-17_208591742/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_0-40-17_208591742/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..94e27f40c34dae7eecac461c99a7727517a9c850 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_0-40-17_208591742/pose.jsonl @@ -0,0 +1,132 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3683.0342611030087, + 1607.1629135705057, + 55.2327617774148 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3685.632337314362, + 1608.6629135705057, + 55.2327617774148 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3688.230413525715, + 1610.1629135705057, + 55.2327617774148 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3690.828489737068, + 1611.6629135705057, + 55.2327617774148 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3693.4265659484213, + 1613.1629135705057, + 55.2327617774148 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3693.4265659484213, + 1613.1629135705057, + 55.2327617774148 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196626 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3694.9265659484213, + 1615.760989781859, + 55.2327617774148 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3696.4265659484213, + 1618.3590659932124, + 55.2327617774148 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 3697.9265659484213, + 1620.9571422045658, + 55.2327617774148 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3748.0, + 1672.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_0-42-46_1258095765/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_0-42-46_1258095765/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..60b1b1137c05c3f1dc17a273bcc87e9e995dd74f --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_0-42-46_1258095765/pose.jsonl @@ -0,0 +1,340 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2118.054810672028, + 1560.4518005021714, + 61.186739058961315 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2116.554810672028, + 1557.853724290818, + 61.186739058961315 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2115.054810672028, + 1555.2556480794647, + 61.186739058961315 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2113.554810672028, + 1552.6575718681113, + 61.186739058961315 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2112.054810672028, + 1550.059495656758, + 61.186739058961315 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2110.554810672028, + 1547.4614194454045, + 61.186739058961315 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2109.054810672028, + 1544.8633432340512, + 61.186739058961315 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2107.554810672028, + 1542.2652670226978, + 61.186739058961315 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2106.054810672028, + 1539.6671908113444, + 61.186739058961315 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2104.554810672028, + 1537.069114599991, + 61.186739058961315 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2103.054810672028, + 1534.4710383886377, + 61.186739058961315 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2101.554810672028, + 1531.8729621772843, + 61.186739058961315 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2100.054810672028, + 1529.274885965931, + 61.186739058961315 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2098.554810672028, + 1526.6768097545776, + 61.186739058961315 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2097.054810672028, + 1524.0787335432242, + 61.186739058961315 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2095.554810672028, + 1521.4806573318708, + 61.186739058961315 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2094.054810672028, + 1518.8825811205174, + 61.186739058961315 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2092.554810672028, + 1516.284504909164, + 61.186739058961315 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2091.054810672028, + 1513.6864286978107, + 61.186739058961315 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2089.554810672028, + 1511.0883524864573, + 61.186739058961315 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2088.054810672028, + 1508.490276275104, + 61.186739058961315 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2086.554810672028, + 1505.8922000637506, + 61.186739058961315 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2086.554810672028, + 1505.8922000637506, + 61.186739058961315 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2083.956734460675, + 1504.3922000637506, + 61.186739058961315 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2081.3586582493217, + 1502.8922000637506, + 61.186739058961315 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755983272 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2072.0, + 1492.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_0-42-7_1179339467/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_0-42-7_1179339467/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..218ab3398dcccba745e6edc715295afadb6e4108 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_0-42-7_1179339467/pose.jsonl @@ -0,0 +1,275 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2247.227304947641, + -2356.889357022373, + 66.45182326136585 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2244.227304947641, + -2356.889357022373, + 66.45182326136585 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2241.227304947641, + -2356.889357022373, + 66.45182326136585 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2238.227304947641, + -2356.889357022373, + 66.45182326136585 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2238.227304947641, + -2356.889357022373, + 66.45182326136585 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2238.227304947641, + -2356.889357022373, + 66.45182326136585 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2236.727304947641, + -2359.4874332337263, + 66.45182326136585 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2235.227304947641, + -2362.0855094450794, + 66.45182326136585 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2233.727304947641, + -2364.6835856564326, + 66.45182326136585 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2233.727304947641, + -2364.6835856564326, + 66.45182326136585 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982706 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2231.129228736288, + -2366.1835856564326, + 66.45182326136585 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2228.531152524935, + -2367.6835856564326, + 66.45182326136585 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2225.9330763135818, + -2369.1835856564326, + 66.45182326136585 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2223.3350001022286, + -2370.6835856564326, + 66.45182326136585 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2220.7369238908755, + -2372.1835856564326, + 66.45182326136585 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2218.1388476795223, + -2373.6835856564326, + 66.45182326136585 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2215.540771468169, + -2375.1835856564326, + 66.45182326136585 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2212.942695256816, + -2376.6835856564326, + 66.45182326136585 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2210.344619045463, + -2378.1835856564326, + 66.45182326136585 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2207.7465428341097, + -2379.6835856564326, + 66.45182326136585 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755983272 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2188.0, + -2388.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_0-43-13_622993624/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_0-43-13_622993624/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..424dd16ec69cc1c1bc0c5b12fb41c21d9d77ea85 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_0-43-13_622993624/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1380.9039359414962, + 1800.9945627541886, + 43.213595922418726 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1383.9039359414962, + 1800.9945627541886, + 43.213595922418726 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1386.9039359414962, + 1800.9945627541886, + 43.213595922418726 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1389.9039359414962, + 1800.9945627541886, + 43.213595922418726 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1389.9039359414962, + 1800.9945627541886, + 43.213595922418726 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1389.9039359414962, + 1800.9945627541886, + 43.213595922418726 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1391.4039359414962, + 1798.3964865428352, + 43.213595922418726 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1392.9039359414962, + 1795.7984103314818, + 43.213595922418726 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1394.4039359414962, + 1793.2003341201284, + 43.213595922418726 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1394.4039359414962, + 1793.2003341201284, + 43.213595922418726 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1397.0020121528496, + 1791.7003341201284, + 43.213595922418726 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1399.600088364203, + 1790.2003341201284, + 43.213595922418726 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1402.1981645755563, + 1788.7003341201284, + 43.213595922418726 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1404.7962407869097, + 1787.2003341201284, + 43.213595922418726 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1407.394316998263, + 1785.7003341201284, + 43.213595922418726 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1409.9923932096165, + 1784.2003341201284, + 43.213595922418726 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1412.5904694209698, + 1782.7003341201284, + 43.213595922418726 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1415.1885456323232, + 1781.2003341201284, + 43.213595922418726 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1417.7866218436766, + 1779.7003341201284, + 43.213595922418726 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1420.38469805503, + 1778.2003341201284, + 43.213595922418726 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1422.9827742663833, + 1776.7003341201284, + 43.213595922418726 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1425.5808504777367, + 1775.2003341201284, + 43.213595922418726 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1428.17892668909, + 1773.7003341201284, + 43.213595922418726 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1444.0, + 1764.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_0-43-40_554472058/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_0-43-40_554472058/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..56aa3709a772e84cfce1022a17707f386d03bdeb --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_0-43-40_554472058/pose.jsonl @@ -0,0 +1,119 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2322.742857687243, + 1342.9251312328015, + 47.252244805809056 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2322.742857687243, + 1345.9251312328015, + 47.252244805809056 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2322.742857687243, + 1348.9251312328015, + 47.252244805809056 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2322.742857687243, + 1351.9251312328015, + 47.252244805809056 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2322.742857687243, + 1354.9251312328015, + 47.252244805809056 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2322.742857687243, + 1357.9251312328015, + 47.252244805809056 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2322.742857687243, + 1357.9251312328015, + 47.252244805809056 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2321.242857687243, + 1360.5232074441549, + 47.252244805809056 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2312.0, + 1404.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_0-46-36_1140210352/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_0-46-36_1140210352/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..43c9d6d5c70e0258e932ae91cef375ca00bb390c --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_0-46-36_1140210352/pose.jsonl @@ -0,0 +1,340 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2597.777621347497, + -2061.5634798328647, + 63.762950319301694 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2595.179545136144, + -2063.0634798328647, + 63.762950319301694 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2592.581468924791, + -2064.5634798328647, + 63.762950319301694 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2589.9833927134378, + -2066.0634798328647, + 63.762950319301694 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2587.3853165020846, + -2067.5634798328647, + 63.762950319301694 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2584.7872402907315, + -2069.0634798328647, + 63.762950319301694 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2582.1891640793783, + -2070.5634798328647, + 63.762950319301694 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2579.591087868025, + -2072.0634798328647, + 63.762950319301694 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2576.993011656672, + -2073.5634798328647, + 63.762950319301694 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2574.394935445319, + -2075.0634798328647, + 63.762950319301694 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2571.7968592339657, + -2076.5634798328647, + 63.762950319301694 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2569.1987830226126, + -2078.0634798328647, + 63.762950319301694 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2566.6007068112594, + -2079.5634798328647, + 63.762950319301694 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2564.0026305999063, + -2081.0634798328647, + 63.762950319301694 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2561.404554388553, + -2082.5634798328647, + 63.762950319301694 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2558.8064781772, + -2084.0634798328647, + 63.762950319301694 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2556.208401965847, + -2085.5634798328647, + 63.762950319301694 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2553.6103257544937, + -2087.0634798328647, + 63.762950319301694 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2553.6103257544937, + -2087.0634798328647, + 63.762950319301694 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196626 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2552.1103257544937, + -2089.661556044218, + 63.762950319301694 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2550.6103257544937, + -2092.259632255571, + 63.762950319301694 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2549.1103257544937, + -2094.857708466924, + 63.762950319301694 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2547.6103257544937, + -2097.4557846782773, + 63.762950319301694 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2546.1103257544937, + -2100.0538608896304, + 63.762950319301694 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2544.6103257544937, + -2102.6519371009836, + 63.762950319301694 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965694 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2528.0, + -2116.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_0-48-31_773748473/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_0-48-31_773748473/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fbe206306da7a032bbe1f3a6eca7c038b8623910 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_0-48-31_773748473/pose.jsonl @@ -0,0 +1,262 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1726.325930538233, + 1067.2330049437348, + 43.404636520149026 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1728.9240067495864, + 1065.7330049437348, + 43.404636520149026 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1731.5220829609398, + 1064.2330049437348, + 43.404636520149026 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1734.1201591722931, + 1062.7330049437348, + 43.404636520149026 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1736.7182353836465, + 1061.2330049437348, + 43.404636520149026 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1739.316311595, + 1059.7330049437348, + 43.404636520149026 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1741.9143878063533, + 1058.2330049437348, + 43.404636520149026 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1744.5124640177066, + 1056.7330049437348, + 43.404636520149026 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1747.11054022906, + 1055.2330049437348, + 43.404636520149026 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1749.7086164404134, + 1053.7330049437348, + 43.404636520149026 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1749.7086164404134, + 1053.7330049437348, + 43.404636520149026 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1751.2086164404134, + 1051.1349287323815, + 43.404636520149026 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1752.7086164404134, + 1048.536852521028, + 43.404636520149026 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1754.2086164404134, + 1045.9387763096747, + 43.404636520149026 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1755.7086164404134, + 1043.3407000983213, + 43.404636520149026 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1757.2086164404134, + 1040.742623886968, + 43.404636520149026 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1757.2086164404134, + 1040.742623886968, + 43.404636520149026 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1759.8066926517668, + 1039.242623886968, + 43.404636520149026 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1762.4047688631201, + 1037.742623886968, + 43.404636520149026 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1776.0, + 1028.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_0-55-33_304133130/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_0-55-33_304133130/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3e849962b5ccae1bc1e538c3ce14d870d3712b62 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_0-55-33_304133130/pose.jsonl @@ -0,0 +1,262 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -221.31757023805972, + 363.1789969547358, + 45.84284662159511 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -223.91564644941303, + 364.6789969547358, + 45.84284662159511 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -226.51372266076635, + 366.1789969547358, + 45.84284662159511 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -229.11179887211966, + 367.6789969547358, + 45.84284662159511 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -231.70987508347298, + 369.1789969547358, + 45.84284662159511 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -234.3079512948263, + 370.6789969547358, + 45.84284662159511 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -236.9060275061796, + 372.1789969547358, + 45.84284662159511 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -239.50410371753293, + 373.6789969547358, + 45.84284662159511 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -242.10217992888624, + 375.1789969547358, + 45.84284662159511 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -244.70025614023956, + 376.6789969547358, + 45.84284662159511 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -247.29833235159288, + 378.1789969547358, + 45.84284662159511 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -249.8964085629462, + 379.6789969547358, + 45.84284662159511 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -252.4944847742995, + 381.1789969547358, + 45.84284662159511 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -255.09256098565282, + 382.6789969547358, + 45.84284662159511 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -257.69063719700614, + 384.1789969547358, + 45.84284662159511 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -260.28871340835946, + 385.6789969547358, + 45.84284662159511 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -262.8867896197128, + 387.1789969547358, + 45.84284662159511 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -265.4848658310661, + 388.6789969547358, + 45.84284662159511 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -268.0829420424194, + 390.1789969547358, + 45.84284662159511 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -288.0, + 404.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_0-55-6_924279777/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_0-55-6_924279777/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5796f62f5f25d56430e605799265058570f96088 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_0-55-6_924279777/pose.jsonl @@ -0,0 +1,67 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2061.056360085875, + -1958.5882294789599, + 50.30047451553234 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2064.056360085875, + -1958.5882294789599, + 50.30047451553234 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2067.056360085875, + -1958.5882294789599, + 50.30047451553234 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2070.056360085875, + -1958.5882294789599, + 50.30047451553234 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2160.0, + -1960.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_0-57-17_507906577/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_0-57-17_507906577/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..14fb3424457243de7d4c56e17db9725809d81a1b --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_0-57-17_507906577/pose.jsonl @@ -0,0 +1,340 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1163.5337474715936, + 1543.7581966356527, + 58.00958155120841 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1166.5337474715936, + 1543.7581966356527, + 58.00958155120841 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1169.5337474715936, + 1543.7581966356527, + 58.00958155120841 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1172.5337474715936, + 1543.7581966356527, + 58.00958155120841 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1175.5337474715936, + 1543.7581966356527, + 58.00958155120841 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1178.5337474715936, + 1543.7581966356527, + 58.00958155120841 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1181.5337474715936, + 1543.7581966356527, + 58.00958155120841 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1184.5337474715936, + 1543.7581966356527, + 58.00958155120841 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1187.5337474715936, + 1543.7581966356527, + 58.00958155120841 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1187.5337474715936, + 1543.7581966356527, + 58.00958155120841 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1190.131823682947, + 1542.2581966356527, + 58.00958155120841 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1192.7298998943004, + 1540.7581966356527, + 58.00958155120841 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1195.3279761056538, + 1539.2581966356527, + 58.00958155120841 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1197.9260523170071, + 1537.7581966356527, + 58.00958155120841 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1200.5241285283605, + 1536.2581966356527, + 58.00958155120841 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1203.1222047397139, + 1534.7581966356527, + 58.00958155120841 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1205.7202809510673, + 1533.2581966356527, + 58.00958155120841 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1208.3183571624206, + 1531.7581966356527, + 58.00958155120841 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1208.3183571624206, + 1531.7581966356527, + 58.00958155120841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1209.8183571624206, + 1529.1601204242993, + 58.00958155120841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1211.3183571624206, + 1526.562044212946, + 58.00958155120841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1212.8183571624206, + 1523.9639680015925, + 58.00958155120841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1214.3183571624206, + 1521.3658917902392, + 58.00958155120841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1215.8183571624206, + 1518.7678155788858, + 58.00958155120841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1217.3183571624206, + 1516.1697393675324, + 58.00958155120841 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1236.0, + 1508.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_0-58-33_2093782069/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_0-58-33_2093782069/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..70d0d99c9d9ab9df98a91629b8b2588417abc887 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_0-58-33_2093782069/pose.jsonl @@ -0,0 +1,366 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2737.662095323977, + 1022.8585215645544, + 53.26669884911601 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2734.662095323977, + 1022.8585215645544, + 53.26669884911601 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2731.662095323977, + 1022.8585215645544, + 53.26669884911601 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2728.662095323977, + 1022.8585215645544, + 53.26669884911601 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2725.662095323977, + 1022.8585215645544, + 53.26669884911601 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2722.662095323977, + 1022.8585215645544, + 53.26669884911601 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2719.662095323977, + 1022.8585215645544, + 53.26669884911601 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2716.662095323977, + 1022.8585215645544, + 53.26669884911601 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2713.662095323977, + 1022.8585215645544, + 53.26669884911601 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2710.662095323977, + 1022.8585215645544, + 53.26669884911601 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2707.662095323977, + 1022.8585215645544, + 53.26669884911601 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2704.662095323977, + 1022.8585215645544, + 53.26669884911601 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2701.662095323977, + 1022.8585215645544, + 53.26669884911601 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2698.662095323977, + 1022.8585215645544, + 53.26669884911601 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2695.662095323977, + 1022.8585215645544, + 53.26669884911601 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2692.662095323977, + 1022.8585215645544, + 53.26669884911601 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2689.662095323977, + 1022.8585215645544, + 53.26669884911601 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2686.662095323977, + 1022.8585215645544, + 53.26669884911601 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2683.662095323977, + 1022.8585215645544, + 53.26669884911601 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2680.662095323977, + 1022.8585215645544, + 53.26669884911601 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2677.662095323977, + 1022.8585215645544, + 53.26669884911601 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2674.662095323977, + 1022.8585215645544, + 53.26669884911601 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2671.662095323977, + 1022.8585215645544, + 53.26669884911601 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2668.662095323977, + 1022.8585215645544, + 53.26669884911601 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2665.662095323977, + 1022.8585215645544, + 53.26669884911601 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2662.662095323977, + 1022.8585215645544, + 53.26669884911601 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2659.662095323977, + 1022.8585215645544, + 53.26669884911601 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2640.0, + 1024.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_1-0-11_1037412975/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_1-0-11_1037412975/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cd7794a1c18d8f01dbe89711d90185ebc9778b15 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_1-0-11_1037412975/pose.jsonl @@ -0,0 +1,197 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1492.641262575848, + -558.2727180578952, + 64.62445308490047 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1495.641262575848, + -558.2727180578952, + 64.62445308490047 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1498.641262575848, + -558.2727180578952, + 64.62445308490047 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1501.641262575848, + -558.2727180578952, + 64.62445308490047 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1501.641262575848, + -558.2727180578952, + 64.62445308490047 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1504.2393387872014, + -559.7727180578952, + 64.62445308490047 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1506.8374149985548, + -561.2727180578952, + 64.62445308490047 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1509.4354912099082, + -562.7727180578952, + 64.62445308490047 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1512.0335674212615, + -564.2727180578952, + 64.62445308490047 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1514.631643632615, + -565.7727180578952, + 64.62445308490047 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1517.2297198439683, + -567.2727180578952, + 64.62445308490047 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1519.8277960553216, + -568.7727180578952, + 64.62445308490047 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1522.425872266675, + -570.2727180578952, + 64.62445308490047 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1525.0239484780284, + -571.7727180578952, + 64.62445308490047 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1552.0, + -580.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_1-10-59_378342196/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_1-10-59_378342196/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d7e0c1d847a5cd6ad33801111227134d69d63969 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_1-10-59_378342196/pose.jsonl @@ -0,0 +1,80 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -574.8893557097242, + -298.94852104096964, + 61.450935921262726 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -573.3893557097242, + -301.54659725232295, + 61.450935921262726 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -571.8893557097242, + -304.14467346367627, + 61.450935921262726 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -570.3893557097242, + -306.7427496750296, + 61.450935921262726 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -568.8893557097242, + -309.3408258863829, + 61.450935921262726 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -532.0, + -352.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_1-13-15_2092083088/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_1-13-15_2092083088/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ecc24ad50401c5928b00593622a1e46a5ca6dbdc --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_1-13-15_2092083088/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4079.4581343307973, + -2879.547170739788, + 51.561821832874074 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4080.9581343307973, + -2882.145246951141, + 51.561821832874074 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4082.4581343307973, + -2884.743323162494, + 51.561821832874074 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4083.9581343307973, + -2887.3413993738473, + 51.561821832874074 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4085.4581343307973, + -2889.9394755852004, + 51.561821832874074 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4086.9581343307973, + -2892.5375517965535, + 51.561821832874074 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4088.4581343307973, + -2895.1356280079067, + 51.561821832874074 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4089.9581343307973, + -2897.73370421926, + 51.561821832874074 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4091.4581343307973, + -2900.331780430613, + 51.561821832874074 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4092.9581343307973, + -2902.929856641966, + 51.561821832874074 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4094.4581343307973, + -2905.5279328533193, + 51.561821832874074 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4095.9581343307973, + -2908.1260090646724, + 51.561821832874074 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4097.458134330797, + -2910.7240852760256, + 51.561821832874074 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4098.958134330797, + -2913.3221614873787, + 51.561821832874074 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4098.958134330797, + -2913.3221614873787, + 51.561821832874074 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948681 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4098.958134330797, + -2916.3221614873787, + 51.561821832874074 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 4098.958134330797, + -2919.3221614873787, + 51.561821832874074 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 4098.958134330797, + -2922.3221614873787, + 51.561821832874074 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 4098.958134330797, + -2925.3221614873787, + 51.561821832874074 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 4098.958134330797, + -2928.3221614873787, + 51.561821832874074 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 4098.958134330797, + -2931.3221614873787, + 51.561821832874074 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 4098.958134330797, + -2934.3221614873787, + 51.561821832874074 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 4098.958134330797, + -2937.3221614873787, + 51.561821832874074 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4108.0, + -2964.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_1-17-23_1933366332/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_1-17-23_1933366332/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..666e59d27cb85c2dbde4e350fc0d0a3d3bf819a9 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_1-17-23_1933366332/pose.jsonl @@ -0,0 +1,275 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2066.007437471989, + 381.3552955278876, + 56.312184075461275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2064.507437471989, + 383.95337173924094, + 56.312184075461275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2063.007437471989, + 386.55144795059425, + 56.312184075461275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2061.507437471989, + 389.14952416194757, + 56.312184075461275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2060.007437471989, + 391.7476003733009, + 56.312184075461275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2058.507437471989, + 394.3456765846542, + 56.312184075461275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2057.007437471989, + 396.9437527960075, + 56.312184075461275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2055.507437471989, + 399.54182900736083, + 56.312184075461275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2054.007437471989, + 402.13990521871415, + 56.312184075461275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2052.507437471989, + 404.73798143006746, + 56.312184075461275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2051.007437471989, + 407.3360576414208, + 56.312184075461275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2049.507437471989, + 409.9341338527741, + 56.312184075461275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2048.007437471989, + 412.5322100641274, + 56.312184075461275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2046.5074374719889, + 415.1302862754807, + 56.312184075461275 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2046.5074374719889, + 415.1302862754807, + 56.312184075461275 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2043.9093612606355, + 416.6302862754807, + 56.312184075461275 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2041.311285049282, + 418.1302862754807, + 56.312184075461275 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2038.7132088379287, + 419.6302862754807, + 56.312184075461275 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2036.1151326265754, + 421.1302862754807, + 56.312184075461275 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2033.517056415222, + 422.6302862754807, + 56.312184075461275 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2020.0, + 436.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_1-32-53_318984471/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_1-32-53_318984471/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c7f9a570a8543f89695a84d37e502671b4a7b6fe --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_1-32-53_318984471/pose.jsonl @@ -0,0 +1,288 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2553.140360533203, + 2382.7525549465972, + 56.332138452890014 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2555.738436744556, + 2384.2525549465972, + 56.332138452890014 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2558.3365129559093, + 2385.7525549465972, + 56.332138452890014 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2560.9345891672624, + 2387.2525549465972, + 56.332138452890014 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2563.5326653786155, + 2388.7525549465972, + 56.332138452890014 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2566.1307415899687, + 2390.2525549465972, + 56.332138452890014 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2568.728817801322, + 2391.7525549465972, + 56.332138452890014 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2571.326894012675, + 2393.2525549465972, + 56.332138452890014 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2573.924970224028, + 2394.7525549465972, + 56.332138452890014 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2576.5230464353813, + 2396.2525549465972, + 56.332138452890014 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2579.1211226467344, + 2397.7525549465972, + 56.332138452890014 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2581.7191988580876, + 2399.2525549465972, + 56.332138452890014 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2581.7191988580876, + 2399.2525549465972, + 56.332138452890014 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535897647 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2584.7191988580876, + 2399.2525549465972, + 56.332138452890014 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2587.7191988580876, + 2399.2525549465972, + 56.332138452890014 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2590.7191988580876, + 2399.2525549465972, + 56.332138452890014 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2593.7191988580876, + 2399.2525549465972, + 56.332138452890014 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2596.7191988580876, + 2399.2525549465972, + 56.332138452890014 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2599.7191988580876, + 2399.2525549465972, + 56.332138452890014 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2602.7191988580876, + 2399.2525549465972, + 56.332138452890014 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2605.7191988580876, + 2399.2525549465972, + 56.332138452890014 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2640.0, + 2412.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_1-34-32_363316653/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_1-34-32_363316653/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b5834d7d9ebc6b70a0acb31f1433351381cc3be3 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_1-34-32_363316653/pose.jsonl @@ -0,0 +1,223 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4027.25357821661, + 348.0389127493532, + 60.70172742986554 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4029.8516544279632, + 346.5389127493532, + 60.70172742986554 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4032.4497306393164, + 345.0389127493532, + 60.70172742986554 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4035.0478068506695, + 343.5389127493532, + 60.70172742986554 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4037.6458830620227, + 342.0389127493532, + 60.70172742986554 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4040.243959273376, + 340.5389127493532, + 60.70172742986554 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4042.842035484729, + 339.0389127493532, + 60.70172742986554 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4045.440111696082, + 337.5389127493532, + 60.70172742986554 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4048.0381879074353, + 336.0389127493532, + 60.70172742986554 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4050.6362641187884, + 334.5389127493532, + 60.70172742986554 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4050.6362641187884, + 334.5389127493532, + 60.70172742986554 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196626 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4052.1362641187884, + 331.94083653799987, + 60.70172742986554 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4053.6362641187884, + 329.34276032664656, + 60.70172742986554 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4055.1362641187884, + 326.74468411529324, + 60.70172742986554 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4056.6362641187884, + 324.1466079039399, + 60.70172742986554 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4058.1362641187884, + 321.5485316925866, + 60.70172742986554 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4076.0, + 304.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_1-35-30_871418852/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_1-35-30_871418852/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f2c726a67595209ce2a4ef163b23c06ffaae5d26 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_1-35-30_871418852/pose.jsonl @@ -0,0 +1,275 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2351.870367811961, + 2491.9102109241694, + 59.40428617020224 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2353.370367811961, + 2489.3121347128163, + 59.40428617020224 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2354.870367811961, + 2486.714058501463, + 59.40428617020224 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2356.370367811961, + 2484.11598229011, + 59.40428617020224 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2357.870367811961, + 2481.517906078757, + 59.40428617020224 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2359.370367811961, + 2478.9198298674037, + 59.40428617020224 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2360.870367811961, + 2476.3217536560505, + 59.40428617020224 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2362.370367811961, + 2473.7236774446974, + 59.40428617020224 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2363.870367811961, + 2471.1256012333442, + 59.40428617020224 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 2365.370367811961, + 2468.527525021991, + 59.40428617020224 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2366.870367811961, + 2465.929448810638, + 59.40428617020224 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2368.370367811961, + 2463.331372599285, + 59.40428617020224 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 2369.870367811961, + 2460.7332963879317, + 59.40428617020224 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 2371.370367811961, + 2458.1352201765785, + 59.40428617020224 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 2372.870367811961, + 2455.5371439652254, + 59.40428617020224 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 2372.870367811961, + 2455.5371439652254, + 59.40428617020224 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948681 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 2372.870367811961, + 2452.5371439652254, + 59.40428617020224 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 2372.870367811961, + 2449.5371439652254, + 59.40428617020224 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 2372.870367811961, + 2446.5371439652254, + 59.40428617020224 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 2372.870367811961, + 2443.5371439652254, + 59.40428617020224 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2388.0, + 2400.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_1-4-7_1789243938/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_1-4-7_1789243938/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fa274daf57727ff4a4fd488e02ad04f76e85433c --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_1-4-7_1789243938/pose.jsonl @@ -0,0 +1,457 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3564.2860354396544, + 1740.1925919218495, + 56.76901395988031 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3567.2860354396544, + 1740.1925919218495, + 56.76901395988031 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3570.2860354396544, + 1740.1925919218495, + 56.76901395988031 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3570.2860354396544, + 1740.1925919218495, + 56.76901395988031 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3572.8841116510075, + 1738.6925919218495, + 56.76901395988031 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3575.4821878623607, + 1737.1925919218495, + 56.76901395988031 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3578.080264073714, + 1735.6925919218495, + 56.76901395988031 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3580.678340285067, + 1734.1925919218495, + 56.76901395988031 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 3583.27641649642, + 1732.6925919218495, + 56.76901395988031 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 3585.8744927077732, + 1731.1925919218495, + 56.76901395988031 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 3588.4725689191264, + 1729.6925919218495, + 56.76901395988031 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 3588.4725689191264, + 1729.6925919218495, + 56.76901395988031 + ], + "type": "go straight", + "value": 3, + "yaw": -2.842170943040401e-14 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 3591.4725689191264, + 1729.6925919218495, + 56.76901395988031 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 3594.4725689191264, + 1729.6925919218495, + 56.76901395988031 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 3594.4725689191264, + 1729.6925919218495, + 56.76901395988031 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 3594.4725689191264, + 1729.6925919218495, + 56.76901395988031 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 3595.9725689191264, + 1727.0945157104961, + 56.76901395988031 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 3597.4725689191264, + 1724.4964394991428, + 56.76901395988031 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 3598.9725689191264, + 1721.8983632877894, + 56.76901395988031 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 3600.4725689191264, + 1719.300287076436, + 56.76901395988031 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 3601.9725689191264, + 1716.7022108650826, + 56.76901395988031 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 3603.4725689191264, + 1714.1041346537293, + 56.76901395988031 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 3604.9725689191264, + 1711.506058442376, + 56.76901395988031 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 3606.4725689191264, + 1708.9079822310225, + 56.76901395988031 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 3607.9725689191264, + 1706.3099060196691, + 56.76901395988031 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 3609.4725689191264, + 1703.7118298083158, + 56.76901395988031 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 3610.9725689191264, + 1701.1137535969624, + 56.76901395988031 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 3612.4725689191264, + 1698.515677385609, + 56.76901395988031 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 3612.4725689191264, + 1698.515677385609, + 56.76901395988031 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 3612.4725689191264, + 1698.515677385609, + 56.76901395988031 + ], + "type": "go straight", + "value": 3, + "yaw": -9.547918011776346e-15 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 3615.4725689191264, + 1698.515677385609, + 56.76901395988031 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 3618.4725689191264, + 1698.515677385609, + 56.76901395988031 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 3621.4725689191264, + 1698.515677385609, + 56.76901395988031 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 3624.4725689191264, + 1698.515677385609, + 56.76901395988031 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3640.0, + 1688.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_1-42-44_598845591/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_1-42-44_598845591/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ee91620b0e8c4056642ffc6eb7cc04e74816fa5a --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_1-42-44_598845591/pose.jsonl @@ -0,0 +1,171 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2391.116598930793, + 636.2985414698113, + 52.383465763096424 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2394.116598930793, + 636.2985414698113, + 52.383465763096424 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2397.116598930793, + 636.2985414698113, + 52.383465763096424 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2400.116598930793, + 636.2985414698113, + 52.383465763096424 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2403.116598930793, + 636.2985414698113, + 52.383465763096424 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2403.116598930793, + 636.2985414698113, + 52.383465763096424 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2405.714675142146, + 637.7985414698113, + 52.383465763096424 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2408.312751353499, + 639.2985414698113, + 52.383465763096424 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2410.9108275648523, + 640.7985414698113, + 52.383465763096424 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 2413.5089037762054, + 642.2985414698113, + 52.383465763096424 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2416.1069799875586, + 643.7985414698113, + 52.383465763096424 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2418.7050561989117, + 645.2985414698113, + 52.383465763096424 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755983272 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2460.0, + 664.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_1-42-5_55519019/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_1-42-5_55519019/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f88be14e6e8e6ffb074d0b53d0966eb08de2575d --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_1-42-5_55519019/pose.jsonl @@ -0,0 +1,249 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 693.6571269274289, + 44.58827045060201, + 65.58582344943942 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 692.1571269274289, + 47.18634666195533, + 65.58582344943942 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 690.6571269274289, + 49.78442287330864, + 65.58582344943942 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 689.1571269274289, + 52.38249908466196, + 65.58582344943942 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 687.6571269274289, + 54.980575296015274, + 65.58582344943942 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 686.1571269274289, + 57.57865150736859, + 65.58582344943942 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 684.6571269274289, + 60.17672771872191, + 65.58582344943942 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 683.1571269274289, + 62.77480393007522, + 65.58582344943942 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 681.6571269274289, + 65.37288014142854, + 65.58582344943942 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 680.1571269274289, + 67.97095635278185, + 65.58582344943942 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 678.6571269274289, + 70.56903256413517, + 65.58582344943942 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 677.1571269274289, + 73.16710877548849, + 65.58582344943942 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 675.6571269274289, + 75.7651849868418, + 65.58582344943942 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 675.6571269274289, + 75.7651849868418, + 65.58582344943942 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 675.6571269274289, + 78.7651849868418, + 65.58582344943942 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 675.6571269274289, + 81.7651849868418, + 65.58582344943942 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 675.6571269274289, + 84.7651849868418, + 65.58582344943942 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 675.6571269274289, + 87.7651849868418, + 65.58582344943942 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 660.0, + 128.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_1-43-1_443286196/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_1-43-1_443286196/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4f9a80ebc31ea1e662bf5503d8ae6abf1e47136e --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_1-43-1_443286196/pose.jsonl @@ -0,0 +1,340 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3193.277280267045, + -2955.9558919934975, + 61.359436562752435 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3191.777280267045, + -2958.5539682048507, + 61.359436562752435 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3190.277280267045, + -2961.152044416204, + 61.359436562752435 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3190.277280267045, + -2961.152044416204, + 61.359436562752435 + ], + "type": "turn left", + "value": 30, + "yaw": -1.570796326794925 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3190.277280267045, + -2961.152044416204, + 61.359436562752435 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196626 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3191.777280267045, + -2963.750120627557, + 61.359436562752435 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3193.277280267045, + -2966.34819683891, + 61.359436562752435 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3193.277280267045, + -2966.34819683891, + 61.359436562752435 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948681 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 3193.277280267045, + -2969.34819683891, + 61.359436562752435 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 3193.277280267045, + -2972.34819683891, + 61.359436562752435 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 3193.277280267045, + -2975.34819683891, + 61.359436562752435 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 3193.277280267045, + -2978.34819683891, + 61.359436562752435 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 3193.277280267045, + -2978.34819683891, + 61.359436562752435 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 3194.777280267045, + -2980.9462730502632, + 61.359436562752435 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 3196.277280267045, + -2983.5443492616164, + 61.359436562752435 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 3197.777280267045, + -2986.1424254729695, + 61.359436562752435 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 3199.277280267045, + -2988.7405016843227, + 61.359436562752435 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 3200.777280267045, + -2991.338577895676, + 61.359436562752435 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 3200.777280267045, + -2991.338577895676, + 61.359436562752435 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982706 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 3203.3753564783983, + -2992.838577895676, + 61.359436562752435 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 3205.9734326897515, + -2994.338577895676, + 61.359436562752435 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 3208.5715089011046, + -2995.838577895676, + 61.359436562752435 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 3211.1695851124578, + -2997.338577895676, + 61.359436562752435 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 3213.767661323811, + -2998.838577895676, + 61.359436562752435 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 3216.365737535164, + -3000.338577895676, + 61.359436562752435 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755983272 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3228.0, + -3024.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_1-46-16_1186241694/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_1-46-16_1186241694/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..223de1f846d8160332573785f0a21be55452f94f --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_1-46-16_1186241694/pose.jsonl @@ -0,0 +1,236 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2459.2905188097634, + -1999.224675008079, + 58.84041291514226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2460.7905188097634, + -1996.6265987967256, + 58.84041291514226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2462.2905188097634, + -1994.0285225853722, + 58.84041291514226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2463.7905188097634, + -1991.4304463740189, + 58.84041291514226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2465.2905188097634, + -1988.8323701626655, + 58.84041291514226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2466.7905188097634, + -1986.234293951312, + 58.84041291514226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2468.2905188097634, + -1983.6362177399587, + 58.84041291514226 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2468.2905188097634, + -1983.6362177399587, + 58.84041291514226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2470.8885950211165, + -1982.1362177399587, + 58.84041291514226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2473.4866712324697, + -1980.6362177399587, + 58.84041291514226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2476.084747443823, + -1979.1362177399587, + 58.84041291514226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2478.682823655176, + -1977.6362177399587, + 58.84041291514226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2481.280899866529, + -1976.1362177399587, + 58.84041291514226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2483.8789760778823, + -1974.6362177399587, + 58.84041291514226 + ], + "type": "turn right", + "value": 30, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2483.8789760778823, + -1974.6362177399587, + 58.84041291514226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931673 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2485.3789760778823, + -1972.0381415286054, + 58.84041291514226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2486.8789760778823, + -1969.440065317252, + 58.84041291514226 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2508.0, + -1948.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_1-5-0_1119667502/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_1-5-0_1119667502/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..23e437ebdef5c00951899712bb468a595e479703 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_1-5-0_1119667502/pose.jsonl @@ -0,0 +1,262 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4801.512649294443, + -602.7949293846214, + 47.407841228940164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4800.012649294443, + -600.196853173268, + 47.407841228940164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4798.512649294443, + -597.5987769619146, + 47.407841228940164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4797.012649294443, + -595.0007007505612, + 47.407841228940164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4795.512649294443, + -592.4026245392079, + 47.407841228940164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4794.012649294443, + -589.8045483278545, + 47.407841228940164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4792.512649294443, + -587.2064721165011, + 47.407841228940164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4791.012649294443, + -584.6083959051477, + 47.407841228940164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4789.512649294443, + -582.0103196937944, + 47.407841228940164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4788.012649294443, + -579.412243482441, + 47.407841228940164 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4788.012649294443, + -579.412243482441, + 47.407841228940164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4788.012649294443, + -576.412243482441, + 47.407841228940164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4788.012649294443, + -573.412243482441, + 47.407841228940164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4788.012649294443, + -570.412243482441, + 47.407841228940164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4788.012649294443, + -567.412243482441, + 47.407841228940164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4788.012649294443, + -564.412243482441, + 47.407841228940164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 4788.012649294443, + -561.412243482441, + 47.407841228940164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 4788.012649294443, + -558.412243482441, + 47.407841228940164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 4788.012649294443, + -555.412243482441, + 47.407841228940164 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4780.0, + -536.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_1-51-39_460467935/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_1-51-39_460467935/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5f1a4fa7bb72b8ccb4569bc54d26a6b98750db7e --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_1-51-39_460467935/pose.jsonl @@ -0,0 +1,340 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 899.0614758566663, + 1380.9660774789502, + 54.09077948075239 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 902.0614758566663, + 1380.9660774789502, + 54.09077948075239 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 905.0614758566663, + 1380.9660774789502, + 54.09077948075239 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 908.0614758566663, + 1380.9660774789502, + 54.09077948075239 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 911.0614758566663, + 1380.9660774789502, + 54.09077948075239 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 914.0614758566663, + 1380.9660774789502, + 54.09077948075239 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 917.0614758566663, + 1380.9660774789502, + 54.09077948075239 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 920.0614758566663, + 1380.9660774789502, + 54.09077948075239 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 923.0614758566663, + 1380.9660774789502, + 54.09077948075239 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 926.0614758566663, + 1380.9660774789502, + 54.09077948075239 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 929.0614758566663, + 1380.9660774789502, + 54.09077948075239 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 932.0614758566663, + 1380.9660774789502, + 54.09077948075239 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 935.0614758566663, + 1380.9660774789502, + 54.09077948075239 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 938.0614758566663, + 1380.9660774789502, + 54.09077948075239 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 941.0614758566663, + 1380.9660774789502, + 54.09077948075239 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 944.0614758566663, + 1380.9660774789502, + 54.09077948075239 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 944.0614758566663, + 1380.9660774789502, + 54.09077948075239 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 946.6595520680196, + 1382.4660774789502, + 54.09077948075239 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 949.257628279373, + 1383.9660774789502, + 54.09077948075239 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 951.8557044907263, + 1385.4660774789502, + 54.09077948075239 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 954.4537807020797, + 1386.9660774789502, + 54.09077948075239 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 957.0518569134331, + 1388.4660774789502, + 54.09077948075239 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 959.6499331247865, + 1389.9660774789502, + 54.09077948075239 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 959.6499331247865, + 1389.9660774789502, + 54.09077948075239 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 962.6499331247865, + 1389.9660774789502, + 54.09077948075239 + ], + "type": "stop", + "value": 0, + "yaw": -9.43689570931383e-15 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 988.0, + 1392.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_1-53-22_1154499430/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_1-53-22_1154499430/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..eca3ff7c5913af680f8cdc34a75da58c42df6943 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_1-53-22_1154499430/pose.jsonl @@ -0,0 +1,275 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1809.10230310654, + -164.37168876989887, + 43.94293264620636 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1810.60230310654, + -161.77361255854555, + 43.94293264620636 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1812.10230310654, + -159.17553634719224, + 43.94293264620636 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1813.60230310654, + -156.57746013583892, + 43.94293264620636 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1815.10230310654, + -153.9793839244856, + 43.94293264620636 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1816.60230310654, + -151.3813077131323, + 43.94293264620636 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1818.10230310654, + -148.78323150177897, + 43.94293264620636 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1819.60230310654, + -146.18515529042566, + 43.94293264620636 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1821.10230310654, + -143.58707907907234, + 43.94293264620636 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1822.60230310654, + -140.98900286771902, + 43.94293264620636 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1824.10230310654, + -138.3909266563657, + 43.94293264620636 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1824.10230310654, + -138.3909266563657, + 43.94293264620636 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1826.7003793178933, + -136.8909266563657, + 43.94293264620636 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1829.2984555292467, + -135.3909266563657, + 43.94293264620636 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1831.8965317406, + -133.8909266563657, + 43.94293264620636 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1834.4946079519534, + -132.3909266563657, + 43.94293264620636 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1837.0926841633068, + -130.8909266563657, + 43.94293264620636 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1839.6907603746602, + -129.3909266563657, + 43.94293264620636 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1842.2888365860135, + -127.8909266563657, + 43.94293264620636 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1844.886912797367, + -126.3909266563657, + 43.94293264620636 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1864.0, + -104.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_1-53-56_1022334982/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_1-53-56_1022334982/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..40332b3042d343f51efa0668504ef38f609a35c5 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_1-53-56_1022334982/pose.jsonl @@ -0,0 +1,236 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2637.717603697159, + -1216.5394225429222, + 67.606959232701 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2635.119527485806, + -1215.0394225429222, + 67.606959232701 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2632.521451274453, + -1213.5394225429222, + 67.606959232701 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2629.9233750630997, + -1212.0394225429222, + 67.606959232701 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2627.3252988517465, + -1210.5394225429222, + 67.606959232701 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2624.7272226403934, + -1209.0394225429222, + 67.606959232701 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2622.1291464290402, + -1207.5394225429222, + 67.606959232701 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2619.531070217687, + -1206.0394225429222, + 67.606959232701 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2616.932994006334, + -1204.5394225429222, + 67.606959232701 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2614.334917794981, + -1203.0394225429222, + 67.606959232701 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2611.7368415836277, + -1201.5394225429222, + 67.606959232701 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2609.1387653722745, + -1200.0394225429222, + 67.606959232701 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2606.5406891609214, + -1198.5394225429222, + 67.606959232701 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2603.9426129495682, + -1197.0394225429222, + 67.606959232701 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2601.344536738215, + -1195.5394225429222, + 67.606959232701 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2598.746460526862, + -1194.0394225429222, + 67.606959232701 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2596.148384315509, + -1192.5394225429222, + 67.606959232701 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755983272 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2576.0, + -1184.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_1-6-32_1381543847/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_1-6-32_1381543847/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..81b7d61e5e0064a7e1c41b3db82254f5b31dadd2 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_1-6-32_1381543847/pose.jsonl @@ -0,0 +1,392 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -897.7814371661735, + 1472.068548174138, + 67.78918364712897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -894.7814371661735, + 1472.068548174138, + 67.78918364712897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -891.7814371661735, + 1472.068548174138, + 67.78918364712897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -888.7814371661735, + 1472.068548174138, + 67.78918364712897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -885.7814371661735, + 1472.068548174138, + 67.78918364712897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -882.7814371661735, + 1472.068548174138, + 67.78918364712897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -879.7814371661735, + 1472.068548174138, + 67.78918364712897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -876.7814371661735, + 1472.068548174138, + 67.78918364712897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -873.7814371661735, + 1472.068548174138, + 67.78918364712897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -870.7814371661735, + 1472.068548174138, + 67.78918364712897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -867.7814371661735, + 1472.068548174138, + 67.78918364712897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -864.7814371661735, + 1472.068548174138, + 67.78918364712897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -861.7814371661735, + 1472.068548174138, + 67.78918364712897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -858.7814371661735, + 1472.068548174138, + 67.78918364712897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -855.7814371661735, + 1472.068548174138, + 67.78918364712897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -852.7814371661735, + 1472.068548174138, + 67.78918364712897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -849.7814371661735, + 1472.068548174138, + 67.78918364712897 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -849.7814371661735, + 1472.068548174138, + 67.78918364712897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -847.1833609548203, + 1473.568548174138, + 67.78918364712897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -844.5852847434669, + 1475.068548174138, + 67.78918364712897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -841.9872085321135, + 1476.568548174138, + 67.78918364712897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -839.3891323207602, + 1478.068548174138, + 67.78918364712897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -836.7910561094068, + 1479.568548174138, + 67.78918364712897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -834.1929798980534, + 1481.068548174138, + 67.78918364712897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -831.5949036867, + 1482.568548174138, + 67.78918364712897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -828.9968274753467, + 1484.068548174138, + 67.78918364712897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -826.3987512639933, + 1485.568548174138, + 67.78918364712897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -823.8006750526399, + 1487.068548174138, + 67.78918364712897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -821.2025988412865, + 1488.568548174138, + 67.78918364712897 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -800.0, + 1492.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_2-15-16_976012582/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_2-15-16_976012582/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..38daba28cd8f014fd31cb25268a747d1f088e216 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_2-15-16_976012582/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4126.833576815232, + -2877.94742247466, + 53.01940546403463 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4125.333576815232, + -2880.545498686013, + 53.01940546403463 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4123.833576815232, + -2883.1435748973663, + 53.01940546403463 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4122.333576815232, + -2885.7416511087195, + 53.01940546403463 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4120.833576815232, + -2888.3397273200726, + 53.01940546403463 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4119.333576815232, + -2890.9378035314257, + 53.01940546403463 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4117.833576815232, + -2893.535879742779, + 53.01940546403463 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4116.333576815232, + -2896.133955954132, + 53.01940546403463 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4114.833576815232, + -2898.732032165485, + 53.01940546403463 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4114.833576815232, + -2898.732032165485, + 53.01940546403463 + ], + "type": "go straight", + "value": 3, + "yaw": -1.570796326794925 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4114.833576815232, + -2901.732032165485, + 53.01940546403463 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4114.833576815232, + -2904.732032165485, + 53.01940546403463 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4114.833576815232, + -2907.732032165485, + 53.01940546403463 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4114.833576815232, + -2910.732032165485, + 53.01940546403463 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4114.833576815232, + -2913.732032165485, + 53.01940546403463 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4114.833576815232, + -2916.732032165485, + 53.01940546403463 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 4114.833576815232, + -2919.732032165485, + 53.01940546403463 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 4114.833576815232, + -2922.732032165485, + 53.01940546403463 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 4114.833576815232, + -2925.732032165485, + 53.01940546403463 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 4114.833576815232, + -2928.732032165485, + 53.01940546403463 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 4114.833576815232, + -2931.732032165485, + 53.01940546403463 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 4114.833576815232, + -2934.732032165485, + 53.01940546403463 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 4114.833576815232, + -2937.732032165485, + 53.01940546403463 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4108.0, + -2964.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_2-17-31_751148990/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_2-17-31_751148990/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..38b31acdc4cd1a07bdebf8b0daba696441edb540 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_2-17-31_751148990/pose.jsonl @@ -0,0 +1,158 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3807.2777631283907, + 2316.5277318244384, + 62.44982383888636 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3809.875839339744, + 2315.0277318244384, + 62.44982383888636 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3812.473915551097, + 2313.5277318244384, + 62.44982383888636 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3815.07199176245, + 2312.0277318244384, + 62.44982383888636 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3817.6700679738033, + 2310.5277318244384, + 62.44982383888636 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3820.2681441851564, + 2309.0277318244384, + 62.44982383888636 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3822.8662203965096, + 2307.5277318244384, + 62.44982383888636 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3825.4642966078627, + 2306.0277318244384, + 62.44982383888636 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 3828.062372819216, + 2304.5277318244384, + 62.44982383888636 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 3830.660449030569, + 2303.0277318244384, + 62.44982383888636 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 3833.258525241922, + 2301.5277318244384, + 62.44982383888636 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755983272 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3860.0, + 2284.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_2-18-10_27553146/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_2-18-10_27553146/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..73759a8ed954607cf8f32612f22167d048f48d65 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_2-18-10_27553146/pose.jsonl @@ -0,0 +1,353 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 538.390135819737, + -191.91387027243033, + 47.57607940008687 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 539.890135819737, + -189.315794061077, + 47.57607940008687 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 541.390135819737, + -186.7177178497237, + 47.57607940008687 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 542.890135819737, + -184.11964163837038, + 47.57607940008687 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 544.390135819737, + -181.52156542701707, + 47.57607940008687 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 545.890135819737, + -178.92348921566375, + 47.57607940008687 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 547.390135819737, + -176.32541300431043, + 47.57607940008687 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 548.890135819737, + -173.72733679295712, + 47.57607940008687 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 550.390135819737, + -171.1292605816038, + 47.57607940008687 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 551.890135819737, + -168.5311843702505, + 47.57607940008687 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 553.390135819737, + -165.93310815889717, + 47.57607940008687 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 554.890135819737, + -163.33503194754385, + 47.57607940008687 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 556.390135819737, + -160.73695573619054, + 47.57607940008687 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 557.890135819737, + -158.13887952483722, + 47.57607940008687 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 559.390135819737, + -155.5408033134839, + 47.57607940008687 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 560.890135819737, + -152.9427271021306, + 47.57607940008687 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 562.390135819737, + -150.34465089077727, + 47.57607940008687 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 563.890135819737, + -147.74657467942396, + 47.57607940008687 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 565.390135819737, + -145.14849846807064, + 47.57607940008687 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 566.890135819737, + -142.55042225671733, + 47.57607940008687 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 566.890135819737, + -142.55042225671733, + 47.57607940008687 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 569.4882120310904, + -141.05042225671733, + 47.57607940008687 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 572.0862882424437, + -139.55042225671733, + 47.57607940008687 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 574.6843644537971, + -138.05042225671733, + 47.57607940008687 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 577.2824406651505, + -136.55042225671733, + 47.57607940008687 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 579.8805168765039, + -135.05042225671733, + 47.57607940008687 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 592.0, + -120.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_2-19-28_64784082/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_2-19-28_64784082/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5192ca6c2af6369e9f2be2fb427ea903fcc89c47 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_2-19-28_64784082/pose.jsonl @@ -0,0 +1,236 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 509.4965297105614, + -1502.4804205765224, + 62.52949661830181 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 507.9965297105614, + -1505.0784967878758, + 62.52949661830181 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 506.4965297105614, + -1507.6765729992292, + 62.52949661830181 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 504.9965297105614, + -1510.2746492105825, + 62.52949661830181 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 503.4965297105614, + -1512.872725421936, + 62.52949661830181 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 501.9965297105614, + -1515.4708016332893, + 62.52949661830181 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 500.4965297105614, + -1518.0688778446427, + 62.52949661830181 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 498.9965297105614, + -1520.666954055996, + 62.52949661830181 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 498.9965297105614, + -1520.666954055996, + 62.52949661830181 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 496.3984534992081, + -1522.166954055996, + 62.52949661830181 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 493.80037728785476, + -1523.666954055996, + 62.52949661830181 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 491.20230107650144, + -1525.166954055996, + 62.52949661830181 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 488.6042248651481, + -1526.666954055996, + 62.52949661830181 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 486.0061486537948, + -1528.166954055996, + 62.52949661830181 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 483.4080724424415, + -1529.666954055996, + 62.52949661830181 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 480.8099962310882, + -1531.166954055996, + 62.52949661830181 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 478.21192001973486, + -1532.666954055996, + 62.52949661830181 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 456.0, + -1556.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_2-2-51_1330625380/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_2-2-51_1330625380/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..aaceecff969497da01120ac4b0db99dbe3caf640 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_2-2-51_1330625380/pose.jsonl @@ -0,0 +1,80 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -283.27412622604385, + 1137.0659081305203, + 65.40063829486107 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -284.77412622604385, + 1134.4678319191669, + 65.40063829486107 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -286.27412622604385, + 1131.8697557078135, + 65.40063829486107 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -287.77412622604385, + 1129.2716794964601, + 65.40063829486107 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -289.27412622604385, + 1126.6736032851068, + 65.40063829486107 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -316.0, + 1076.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_2-24-17_49211756/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_2-24-17_49211756/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4c16d1ac0cb252f012604c180d189eb16c01bf2b --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_2-24-17_49211756/pose.jsonl @@ -0,0 +1,301 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2857.0410566049927, + 1913.453711359751, + 50.21186986731641 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2859.639132816346, + 1911.953711359751, + 50.21186986731641 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2862.237209027699, + 1910.453711359751, + 50.21186986731641 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2864.835285239052, + 1908.953711359751, + 50.21186986731641 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2867.4333614504053, + 1907.453711359751, + 50.21186986731641 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2870.0314376617584, + 1905.953711359751, + 50.21186986731641 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2872.6295138731116, + 1904.453711359751, + 50.21186986731641 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2875.2275900844647, + 1902.953711359751, + 50.21186986731641 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2877.825666295818, + 1901.453711359751, + 50.21186986731641 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2880.423742507171, + 1899.953711359751, + 50.21186986731641 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2883.021818718524, + 1898.453711359751, + 50.21186986731641 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2885.6198949298773, + 1896.953711359751, + 50.21186986731641 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2888.2179711412305, + 1895.453711359751, + 50.21186986731641 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2890.8160473525836, + 1893.953711359751, + 50.21186986731641 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2893.4141235639368, + 1892.453711359751, + 50.21186986731641 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2893.4141235639368, + 1892.453711359751, + 50.21186986731641 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535897647 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2896.4141235639368, + 1892.453711359751, + 50.21186986731641 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2899.4141235639368, + 1892.453711359751, + 50.21186986731641 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2902.4141235639368, + 1892.453711359751, + 50.21186986731641 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2905.4141235639368, + 1892.453711359751, + 50.21186986731641 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2908.4141235639368, + 1892.453711359751, + 50.21186986731641 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2911.4141235639368, + 1892.453711359751, + 50.21186986731641 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2940.0, + 1880.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_2-24-43_1720273398/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_2-24-43_1720273398/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d35177b7288b2be5ca12b5b4791b49575d14d98e --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_2-24-43_1720273398/pose.jsonl @@ -0,0 +1,431 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 268.45684130126745, + 1111.8282282755542, + 60.67751184898755 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 271.05491751262076, + 1110.3282282755542, + 60.67751184898755 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 273.6529937239741, + 1108.8282282755542, + 60.67751184898755 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 276.2510699353274, + 1107.3282282755542, + 60.67751184898755 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 278.8491461466807, + 1105.8282282755542, + 60.67751184898755 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 278.8491461466807, + 1105.8282282755542, + 60.67751184898755 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 280.3491461466807, + 1103.2301520642009, + 60.67751184898755 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 281.8491461466807, + 1100.6320758528475, + 60.67751184898755 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 283.3491461466807, + 1098.0339996414941, + 60.67751184898755 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 284.8491461466807, + 1095.4359234301407, + 60.67751184898755 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 286.3491461466807, + 1092.8378472187874, + 60.67751184898755 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 287.8491461466807, + 1090.239771007434, + 60.67751184898755 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 287.8491461466807, + 1090.239771007434, + 60.67751184898755 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 290.447222358034, + 1088.739771007434, + 60.67751184898755 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 293.04529856938734, + 1087.239771007434, + 60.67751184898755 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 295.64337478074066, + 1085.739771007434, + 60.67751184898755 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 298.241450992094, + 1084.239771007434, + 60.67751184898755 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 300.8395272034473, + 1082.739771007434, + 60.67751184898755 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 303.4376034148006, + 1081.239771007434, + 60.67751184898755 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 306.0356796261539, + 1079.739771007434, + 60.67751184898755 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 308.63375583750724, + 1078.239771007434, + 60.67751184898755 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 311.23183204886055, + 1076.739771007434, + 60.67751184898755 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 313.82990826021387, + 1075.239771007434, + 60.67751184898755 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 316.4279844715672, + 1073.739771007434, + 60.67751184898755 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 316.4279844715672, + 1073.739771007434, + 60.67751184898755 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 319.4279844715672, + 1073.739771007434, + 60.67751184898755 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 322.4279844715672, + 1073.739771007434, + 60.67751184898755 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 325.4279844715672, + 1073.739771007434, + 60.67751184898755 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 328.4279844715672, + 1073.739771007434, + 60.67751184898755 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 331.4279844715672, + 1073.739771007434, + 60.67751184898755 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 334.4279844715672, + 1073.739771007434, + 60.67751184898755 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 337.4279844715672, + 1073.739771007434, + 60.67751184898755 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 356.0, + 1064.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_2-28-8_193836679/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_2-28-8_193836679/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5e696cbfcb59d0c6e153a1a5b8aef1d60e2779e5 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_2-28-8_193836679/pose.jsonl @@ -0,0 +1,106 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2493.7169436438735, + 2024.145125305261, + 60.4227998553182 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2493.7169436438735, + 2021.145125305261, + 60.4227998553182 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2493.7169436438735, + 2018.145125305261, + 60.4227998553182 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2493.7169436438735, + 2015.145125305261, + 60.4227998553182 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2493.7169436438735, + 2012.145125305261, + 60.4227998553182 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2493.7169436438735, + 2009.145125305261, + 60.4227998553182 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2493.7169436438735, + 2006.145125305261, + 60.4227998553182 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2496.0, + 1940.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_2-33-34_1555218377/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_2-33-34_1555218377/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0aa50b8270577a426412f8f6892d7e74552fc20e --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_2-33-34_1555218377/pose.jsonl @@ -0,0 +1,210 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4790.8985429708155, + 681.9133284488737, + 42.78617269989436 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4788.300466759462, + 680.4133284488737, + 42.78617269989436 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4785.702390548109, + 678.9133284488737, + 42.78617269989436 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4783.104314336756, + 677.4133284488737, + 42.78617269989436 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4780.506238125403, + 675.9133284488737, + 42.78617269989436 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4777.90816191405, + 674.4133284488737, + 42.78617269989436 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4775.310085702697, + 672.9133284488737, + 42.78617269989436 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4772.712009491343, + 671.4133284488737, + 42.78617269989436 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4770.11393327999, + 669.9133284488737, + 42.78617269989436 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4767.515857068637, + 668.4133284488737, + 42.78617269989436 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4764.917780857284, + 666.9133284488737, + 42.78617269989436 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4762.319704645931, + 665.4133284488737, + 42.78617269989436 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4759.721628434578, + 663.9133284488737, + 42.78617269989436 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4757.123552223225, + 662.4133284488737, + 42.78617269989436 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4754.525476011871, + 660.9133284488737, + 42.78617269989436 + ], + "type": "stop", + "value": 0, + "yaw": -2.617993877991466 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4728.0, + 648.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_2-34-1_1675365723/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_2-34-1_1675365723/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b07889396a7760c0e52037664e482a8c836459c4 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_2-34-1_1675365723/pose.jsonl @@ -0,0 +1,223 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1189.160439279859, + 1037.6482208905757, + 57.668040022304794 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1186.160439279859, + 1037.6482208905757, + 57.668040022304794 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1183.160439279859, + 1037.6482208905757, + 57.668040022304794 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1180.160439279859, + 1037.6482208905757, + 57.668040022304794 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1177.160439279859, + 1037.6482208905757, + 57.668040022304794 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1174.160439279859, + 1037.6482208905757, + 57.668040022304794 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1171.160439279859, + 1037.6482208905757, + 57.668040022304794 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1168.160439279859, + 1037.6482208905757, + 57.668040022304794 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1165.160439279859, + 1037.6482208905757, + 57.668040022304794 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1162.160439279859, + 1037.6482208905757, + 57.668040022304794 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1159.160439279859, + 1037.6482208905757, + 57.668040022304794 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1156.160439279859, + 1037.6482208905757, + 57.668040022304794 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1153.160439279859, + 1037.6482208905757, + 57.668040022304794 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1153.160439279859, + 1037.6482208905757, + 57.668040022304794 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1150.5623630685056, + 1039.1482208905757, + 57.668040022304794 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1147.9642868571523, + 1040.6482208905757, + 57.668040022304794 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1128.0, + 1044.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_2-36-26_377970868/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_2-36-26_377970868/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..091637634dbaa7b900d4d4f51b02bc73f2c962c6 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_2-36-26_377970868/pose.jsonl @@ -0,0 +1,132 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2043.1467955090743, + 2422.5244548843266, + 49.37445595844066 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2043.1467955090743, + 2425.5244548843266, + 49.37445595844066 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2043.1467955090743, + 2428.5244548843266, + 49.37445595844066 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2043.1467955090743, + 2431.5244548843266, + 49.37445595844066 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2043.1467955090743, + 2434.5244548843266, + 49.37445595844066 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2043.1467955090743, + 2437.5244548843266, + 49.37445595844066 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2043.1467955090743, + 2437.5244548843266, + 49.37445595844066 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2044.6467955090743, + 2440.1225310956797, + 49.37445595844066 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2046.1467955090743, + 2442.720607307033, + 49.37445595844066 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965694 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2056.0, + 2484.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_2-38-37_189059476/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_2-38-37_189059476/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b304b63dc06ac7cbae3331b5c5f9878b8be2cc7f --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_2-38-37_189059476/pose.jsonl @@ -0,0 +1,327 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -619.6034464277751, + 1053.662076129129, + 59.15331921988962 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -621.1034464277751, + 1056.2601523404824, + 59.15331921988962 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -622.6034464277751, + 1058.8582285518357, + 59.15331921988962 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -624.1034464277751, + 1061.456304763189, + 59.15331921988962 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -625.6034464277751, + 1064.0543809745425, + 59.15331921988962 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -627.1034464277751, + 1066.6524571858959, + 59.15331921988962 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -628.6034464277751, + 1069.2505333972492, + 59.15331921988962 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -630.1034464277751, + 1071.8486096086026, + 59.15331921988962 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -631.6034464277751, + 1074.446685819956, + 59.15331921988962 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -633.1034464277751, + 1077.0447620313093, + 59.15331921988962 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -634.6034464277751, + 1079.6428382426627, + 59.15331921988962 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -636.1034464277751, + 1082.240914454016, + 59.15331921988962 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -637.6034464277751, + 1084.8389906653695, + 59.15331921988962 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -639.1034464277751, + 1087.4370668767228, + 59.15331921988962 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -640.6034464277751, + 1090.0351430880762, + 59.15331921988962 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -642.1034464277751, + 1092.6332192994296, + 59.15331921988962 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -642.1034464277751, + 1092.6332192994296, + 59.15331921988962 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -644.7015226391284, + 1094.1332192994296, + 59.15331921988962 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -647.2995988504817, + 1095.6332192994296, + 59.15331921988962 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -649.8976750618351, + 1097.1332192994296, + 59.15331921988962 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -652.4957512731885, + 1098.6332192994296, + 59.15331921988962 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -655.0938274845419, + 1100.1332192994296, + 59.15331921988962 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -657.6919036958952, + 1101.6332192994296, + 59.15331921988962 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -660.2899799072486, + 1103.1332192994296, + 59.15331921988962 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -680.0, + 1128.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_2-40-43_761865277/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_2-40-43_761865277/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..62f511f6e86584bcb3393eaa033bc710ccf670ed --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_2-40-43_761865277/pose.jsonl @@ -0,0 +1,301 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4478.126028741927, + 384.32453428538923, + 59.60356615352811 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4479.626028741927, + 386.92261049674255, + 59.60356615352811 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4481.126028741927, + 389.52068670809587, + 59.60356615352811 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4482.626028741927, + 392.1187629194492, + 59.60356615352811 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4484.126028741927, + 394.7168391308025, + 59.60356615352811 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4485.626028741927, + 397.3149153421558, + 59.60356615352811 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4487.126028741927, + 399.91299155350913, + 59.60356615352811 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4488.626028741927, + 402.51106776486245, + 59.60356615352811 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4490.126028741927, + 405.10914397621576, + 59.60356615352811 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4491.626028741927, + 407.7072201875691, + 59.60356615352811 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4493.126028741927, + 410.3052963989224, + 59.60356615352811 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4493.126028741927, + 410.3052963989224, + 59.60356615352811 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4495.72410495328, + 411.8052963989224, + 59.60356615352811 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4498.322181164634, + 413.3052963989224, + 59.60356615352811 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4500.920257375987, + 414.8052963989224, + 59.60356615352811 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4503.51833358734, + 416.3052963989224, + 59.60356615352811 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 4506.116409798693, + 417.8052963989224, + 59.60356615352811 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 4508.714486010046, + 419.3052963989224, + 59.60356615352811 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 4511.312562221399, + 420.8052963989224, + 59.60356615352811 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 4513.910638432752, + 422.3052963989224, + 59.60356615352811 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 4516.508714644106, + 423.8052963989224, + 59.60356615352811 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 4519.106790855459, + 425.3052963989224, + 59.60356615352811 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755983272 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4536.0, + 448.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_2-48-17_1808665736/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_2-48-17_1808665736/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f62977a3f1621faed1823144ee92dccd81c9f8f3 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_2-48-17_1808665736/pose.jsonl @@ -0,0 +1,236 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -599.2750562016631, + -2523.3543959422973, + 69.49662729905143 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -599.2750562016631, + -2526.3543959422973, + 69.49662729905143 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -599.2750562016631, + -2529.3543959422973, + 69.49662729905143 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -599.2750562016631, + -2532.3543959422973, + 69.49662729905143 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -599.2750562016631, + -2535.3543959422973, + 69.49662729905143 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -599.2750562016631, + -2538.3543959422973, + 69.49662729905143 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -599.2750562016631, + -2541.3543959422973, + 69.49662729905143 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -599.2750562016631, + -2544.3543959422973, + 69.49662729905143 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -599.2750562016631, + -2547.3543959422973, + 69.49662729905143 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -599.2750562016631, + -2550.3543959422973, + 69.49662729905143 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -599.2750562016631, + -2553.3543959422973, + 69.49662729905143 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -599.2750562016631, + -2553.3543959422973, + 69.49662729905143 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -600.7750562016631, + -2555.9524721536504, + 69.49662729905143 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -602.2750562016631, + -2558.5505483650036, + 69.49662729905143 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -603.7750562016631, + -2561.1486245763567, + 69.49662729905143 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -605.2750562016631, + -2563.74670078771, + 69.49662729905143 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -606.7750562016631, + -2566.344776999063, + 69.49662729905143 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023932237 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -616.0, + -2612.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_2-54-15_773506466/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_2-54-15_773506466/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0dd1d39556be950677cedbe1ba5df06a74da16cf --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_2-54-15_773506466/pose.jsonl @@ -0,0 +1,275 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -643.178222735958, + -210.83586521157346, + 42.53072727527627 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -644.678222735958, + -208.23778900022015, + 42.53072727527627 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -646.178222735958, + -205.63971278886683, + 42.53072727527627 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -647.678222735958, + -203.04163657751351, + 42.53072727527627 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -649.178222735958, + -200.4435603661602, + 42.53072727527627 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -650.678222735958, + -197.84548415480688, + 42.53072727527627 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -652.178222735958, + -195.24740794345357, + 42.53072727527627 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -653.678222735958, + -192.64933173210025, + 42.53072727527627 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -655.178222735958, + -190.05125552074693, + 42.53072727527627 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -656.678222735958, + -187.45317930939362, + 42.53072727527627 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -658.178222735958, + -184.8551030980403, + 42.53072727527627 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -659.678222735958, + -182.257026886687, + 42.53072727527627 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -661.178222735958, + -179.65895067533367, + 42.53072727527627 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -661.178222735958, + -179.65895067533367, + 42.53072727527627 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -663.7762989473113, + -178.15895067533367, + 42.53072727527627 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -666.3743751586646, + -176.65895067533367, + 42.53072727527627 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -668.972451370018, + -175.15895067533367, + 42.53072727527627 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -671.5705275813714, + -173.65895067533367, + 42.53072727527627 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -674.1686037927248, + -172.15895067533367, + 42.53072727527627 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -676.7666800040781, + -170.65895067533367, + 42.53072727527627 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -708.0, + -136.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_2-6-37_1973914398/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_2-6-37_1973914398/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e49a3a0d9f1f461c4cb58650a69142f0caa290b4 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_2-6-37_1973914398/pose.jsonl @@ -0,0 +1,106 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2460.4814153081365, + 1787.9746228915255, + 55.06136350977336 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2463.0794915194897, + 1786.4746228915255, + 55.06136350977336 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2465.677567730843, + 1784.9746228915255, + 55.06136350977336 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2468.275643942196, + 1783.4746228915255, + 55.06136350977336 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2470.873720153549, + 1781.9746228915255, + 55.06136350977336 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2473.4717963649023, + 1780.4746228915255, + 55.06136350977336 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2476.0698725762554, + 1778.9746228915255, + 55.06136350977336 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755983272 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2516.0, + 1756.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_2-6-48_968890371/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_2-6-48_968890371/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1f539b9f3aa7c69b5aa3946ab3aed834c68372b8 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_2-6-48_968890371/pose.jsonl @@ -0,0 +1,236 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 278.4976593298379, + -1879.4048548349735, + 44.17825453648439 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 275.4976593298379, + -1879.4048548349735, + 44.17825453648439 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 272.4976593298379, + -1879.4048548349735, + 44.17825453648439 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 269.4976593298379, + -1879.4048548349735, + 44.17825453648439 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 266.4976593298379, + -1879.4048548349735, + 44.17825453648439 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 263.4976593298379, + -1879.4048548349735, + 44.17825453648439 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 260.4976593298379, + -1879.4048548349735, + 44.17825453648439 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 257.4976593298379, + -1879.4048548349735, + 44.17825453648439 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 254.49765932983792, + -1879.4048548349735, + 44.17825453648439 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 251.49765932983792, + -1879.4048548349735, + 44.17825453648439 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 248.49765932983792, + -1879.4048548349735, + 44.17825453648439 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 245.49765932983792, + -1879.4048548349735, + 44.17825453648439 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 242.49765932983792, + -1879.4048548349735, + 44.17825453648439 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 239.49765932983792, + -1879.4048548349735, + 44.17825453648439 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 236.49765932983792, + -1879.4048548349735, + 44.17825453648439 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 233.49765932983792, + -1879.4048548349735, + 44.17825453648439 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 230.49765932983792, + -1879.4048548349735, + 44.17825453648439 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 192.0, + -1884.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_2-6-9_668170982/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_2-6-9_668170982/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..459747e1acfbd4202e5fd872c44d233cfd94535d --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_2-6-9_668170982/pose.jsonl @@ -0,0 +1,236 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4885.453645637908, + 500.13958686251436, + 53.22582297725015 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4888.051721849261, + 498.63958686251436, + 53.22582297725015 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4890.649798060615, + 497.13958686251436, + 53.22582297725015 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4893.247874271968, + 495.63958686251436, + 53.22582297725015 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4895.845950483321, + 494.13958686251436, + 53.22582297725015 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4898.444026694674, + 492.63958686251436, + 53.22582297725015 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4901.042102906027, + 491.13958686251436, + 53.22582297725015 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4903.64017911738, + 489.63958686251436, + 53.22582297725015 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4906.238255328733, + 488.13958686251436, + 53.22582297725015 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4908.836331540087, + 486.63958686251436, + 53.22582297725015 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4911.43440775144, + 485.13958686251436, + 53.22582297725015 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4914.032483962793, + 483.63958686251436, + 53.22582297725015 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4916.630560174146, + 482.13958686251436, + 53.22582297725015 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4919.228636385499, + 480.63958686251436, + 53.22582297725015 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4921.826712596852, + 479.13958686251436, + 53.22582297725015 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4924.424788808205, + 477.63958686251436, + 53.22582297725015 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 4927.022865019559, + 476.13958686251436, + 53.22582297725015 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755983272 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4968.0, + 448.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_2-9-18_1818128616/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_2-9-18_1818128616/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..042d767f3911344a93db8aa6d6732776ad4749b2 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_2-9-18_1818128616/pose.jsonl @@ -0,0 +1,340 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1879.6769212878248, + -2700.308726324599, + 44.27028221141437 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1878.1769212878248, + -2702.906802535952, + 44.27028221141437 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1876.6769212878248, + -2705.504878747305, + 44.27028221141437 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1875.1769212878248, + -2708.1029549586583, + 44.27028221141437 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1873.6769212878248, + -2710.7010311700114, + 44.27028221141437 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1872.1769212878248, + -2713.2991073813646, + 44.27028221141437 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1870.6769212878248, + -2715.8971835927177, + 44.27028221141437 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1869.1769212878248, + -2718.495259804071, + 44.27028221141437 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1867.6769212878248, + -2721.093336015424, + 44.27028221141437 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1866.1769212878248, + -2723.691412226777, + 44.27028221141437 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1864.6769212878248, + -2726.2894884381303, + 44.27028221141437 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1863.1769212878248, + -2728.8875646494835, + 44.27028221141437 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1861.6769212878248, + -2731.4856408608366, + 44.27028221141437 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1860.1769212878248, + -2734.0837170721898, + 44.27028221141437 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1858.6769212878248, + -2736.681793283543, + 44.27028221141437 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1858.6769212878248, + -2736.681793283543, + 44.27028221141437 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948681 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1858.6769212878248, + -2739.681793283543, + 44.27028221141437 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1858.6769212878248, + -2742.681793283543, + 44.27028221141437 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1858.6769212878248, + -2745.681793283543, + 44.27028221141437 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1858.6769212878248, + -2748.681793283543, + 44.27028221141437 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1858.6769212878248, + -2751.681793283543, + 44.27028221141437 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1858.6769212878248, + -2754.681793283543, + 44.27028221141437 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1858.6769212878248, + -2757.681793283543, + 44.27028221141437 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1858.6769212878248, + -2760.681793283543, + 44.27028221141437 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1858.6769212878248, + -2763.681793283543, + 44.27028221141437 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1852.0, + -2784.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_3-0-46_902863873/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_3-0-46_902863873/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d0460ff589754e5e352a72570b84195b91b42b7a --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_3-0-46_902863873/pose.jsonl @@ -0,0 +1,288 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4101.019600196103, + -46.89141037492495, + 65.11249967048325 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4099.519600196103, + -49.48948658627827, + 65.11249967048325 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4098.019600196103, + -52.087562797631584, + 65.11249967048325 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4096.519600196103, + -54.6856390089849, + 65.11249967048325 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4095.019600196103, + -57.283715220338216, + 65.11249967048325 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4093.519600196103, + -59.88179143169153, + 65.11249967048325 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4092.019600196103, + -62.47986764304485, + 65.11249967048325 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4090.519600196103, + -65.07794385439817, + 65.11249967048325 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4089.019600196103, + -67.67602006575149, + 65.11249967048325 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4087.519600196103, + -70.2740962771048, + 65.11249967048325 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4086.019600196103, + -72.87217248845812, + 65.11249967048325 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4084.519600196103, + -75.47024869981144, + 65.11249967048325 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4084.519600196103, + -75.47024869981144, + 65.11249967048325 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4081.92152398475, + -76.97024869981144, + 65.11249967048325 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4079.3234477733968, + -78.47024869981144, + 65.11249967048325 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4076.7253715620436, + -79.97024869981144, + 65.11249967048325 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 4074.1272953506905, + -81.47024869981144, + 65.11249967048325 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 4071.5292191393373, + -82.97024869981144, + 65.11249967048325 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 4068.931142927984, + -84.47024869981144, + 65.11249967048325 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 4066.333066716631, + -85.97024869981144, + 65.11249967048325 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 4063.734990505278, + -87.47024869981144, + 65.11249967048325 + ], + "type": "stop", + "value": 0, + "yaw": -2.617993877991466 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4048.0, + -108.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_3-1-11_1838549458/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_3-1-11_1838549458/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..06c91a13403315239cb525f1ee8fc55478423e10 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_3-1-11_1838549458/pose.jsonl @@ -0,0 +1,223 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1684.1846436760668, + 2261.7574637098014, + 64.79820401424433 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1684.1846436760668, + 2264.7574637098014, + 64.79820401424433 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1684.1846436760668, + 2267.7574637098014, + 64.79820401424433 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1684.1846436760668, + 2270.7574637098014, + 64.79820401424433 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1684.1846436760668, + 2273.7574637098014, + 64.79820401424433 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1684.1846436760668, + 2276.7574637098014, + 64.79820401424433 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1684.1846436760668, + 2279.7574637098014, + 64.79820401424433 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1684.1846436760668, + 2282.7574637098014, + 64.79820401424433 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1684.1846436760668, + 2285.7574637098014, + 64.79820401424433 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1684.1846436760668, + 2288.7574637098014, + 64.79820401424433 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1684.1846436760668, + 2291.7574637098014, + 64.79820401424433 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1684.1846436760668, + 2294.7574637098014, + 64.79820401424433 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1684.1846436760668, + 2297.7574637098014, + 64.79820401424433 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1684.1846436760668, + 2300.7574637098014, + 64.79820401424433 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1684.1846436760668, + 2303.7574637098014, + 64.79820401424433 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1684.1846436760668, + 2306.7574637098014, + 64.79820401424433 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1688.0, + 2348.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_3-12-19_981303315/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_3-12-19_981303315/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fcc4b54f06aed6ac80ad422c522b4b88679b4fb7 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_3-12-19_981303315/pose.jsonl @@ -0,0 +1,184 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 89.40838563905334, + -97.2725281422851, + 50.695292267818985 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 87.90838563905334, + -94.67445193093178, + 50.695292267818985 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 86.40838563905334, + -92.07637571957846, + 50.695292267818985 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 84.90838563905334, + -89.47829950822515, + 50.695292267818985 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 83.40838563905334, + -86.88022329687183, + 50.695292267818985 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 81.90838563905334, + -84.28214708551852, + 50.695292267818985 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 81.90838563905334, + -84.28214708551852, + 50.695292267818985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 81.90838563905334, + -81.28214708551852, + 50.695292267818985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 81.90838563905334, + -78.28214708551852, + 50.695292267818985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 81.90838563905334, + -75.28214708551852, + 50.695292267818985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 81.90838563905334, + -72.28214708551852, + 50.695292267818985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 81.90838563905334, + -69.28214708551852, + 50.695292267818985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 81.90838563905334, + -66.28214708551852, + 50.695292267818985 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 72.0, + -36.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_3-12-50_1335132244/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_3-12-50_1335132244/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e98df77cba7fe25fa985f8cba0c4ab7a5af11f29 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_3-12-50_1335132244/pose.jsonl @@ -0,0 +1,184 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 936.2902827489571, + 2339.703059686421, + 56.934034263660166 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 933.2902827489571, + 2339.703059686421, + 56.934034263660166 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 930.2902827489571, + 2339.703059686421, + 56.934034263660166 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 927.2902827489571, + 2339.703059686421, + 56.934034263660166 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 924.2902827489571, + 2339.703059686421, + 56.934034263660166 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 921.2902827489571, + 2339.703059686421, + 56.934034263660166 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 918.2902827489571, + 2339.703059686421, + 56.934034263660166 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 915.2902827489571, + 2339.703059686421, + 56.934034263660166 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 912.2902827489571, + 2339.703059686421, + 56.934034263660166 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 912.2902827489571, + 2339.703059686421, + 56.934034263660166 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 909.6922065376039, + 2338.203059686421, + 56.934034263660166 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 907.0941303262505, + 2336.703059686421, + 56.934034263660166 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 904.4960541148971, + 2335.203059686421, + 56.934034263660166 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 872.0, + 2328.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_3-13-22_1621421514/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_3-13-22_1621421514/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ec10a85e4b445cb96febc6bdc2bae78cef0f050b --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_3-13-22_1621421514/pose.jsonl @@ -0,0 +1,353 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1519.4472551251026, + -1943.7533485837007, + 66.27650281986996 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1520.9472551251026, + -1946.351424795054, + 66.27650281986996 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1522.4472551251026, + -1948.9495010064074, + 66.27650281986996 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1523.9472551251026, + -1951.5475772177608, + 66.27650281986996 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1525.4472551251026, + -1954.1456534291142, + 66.27650281986996 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1526.9472551251026, + -1956.7437296404676, + 66.27650281986996 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1528.4472551251026, + -1959.341805851821, + 66.27650281986996 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1529.9472551251026, + -1961.9398820631743, + 66.27650281986996 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1531.4472551251026, + -1964.5379582745277, + 66.27650281986996 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1532.9472551251026, + -1967.136034485881, + 66.27650281986996 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1534.4472551251026, + -1969.7341106972344, + 66.27650281986996 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1535.9472551251026, + -1972.3321869085878, + 66.27650281986996 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1537.4472551251026, + -1974.9302631199412, + 66.27650281986996 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1538.9472551251026, + -1977.5283393312945, + 66.27650281986996 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1540.4472551251026, + -1980.126415542648, + 66.27650281986996 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1541.9472551251026, + -1982.7244917540013, + 66.27650281986996 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1543.4472551251026, + -1985.3225679653547, + 66.27650281986996 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1544.9472551251026, + -1987.920644176708, + 66.27650281986996 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1546.4472551251026, + -1990.5187203880614, + 66.27650281986996 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1546.4472551251026, + -1990.5187203880614, + 66.27650281986996 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1546.4472551251026, + -1993.5187203880614, + 66.27650281986996 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1546.4472551251026, + -1996.5187203880614, + 66.27650281986996 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1546.4472551251026, + -1999.5187203880614, + 66.27650281986996 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1546.4472551251026, + -2002.5187203880614, + 66.27650281986996 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1546.4472551251026, + -2005.5187203880614, + 66.27650281986996 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1546.4472551251026, + -2008.5187203880614, + 66.27650281986996 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1552.0, + -2024.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_3-13-40_468431721/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_3-13-40_468431721/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5bf585ba7c17c82a42b1e75272f7a1179d4bed09 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_3-13-40_468431721/pose.jsonl @@ -0,0 +1,327 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -946.7591030422955, + -2336.5313348494597, + 62.02866818369681 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -949.3571792536488, + -2338.0313348494597, + 62.02866818369681 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -951.9552554650022, + -2339.5313348494597, + 62.02866818369681 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -954.5533316763556, + -2341.0313348494597, + 62.02866818369681 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -957.151407887709, + -2342.5313348494597, + 62.02866818369681 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -959.7494840990623, + -2344.0313348494597, + 62.02866818369681 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -962.3475603104157, + -2345.5313348494597, + 62.02866818369681 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -964.9456365217691, + -2347.0313348494597, + 62.02866818369681 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -967.5437127331224, + -2348.5313348494597, + 62.02866818369681 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -970.1417889444758, + -2350.0313348494597, + 62.02866818369681 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -972.7398651558292, + -2351.5313348494597, + 62.02866818369681 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -975.3379413671826, + -2353.0313348494597, + 62.02866818369681 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -977.9360175785359, + -2354.5313348494597, + 62.02866818369681 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -980.5340937898893, + -2356.0313348494597, + 62.02866818369681 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -983.1321700012427, + -2357.5313348494597, + 62.02866818369681 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -985.7302462125961, + -2359.0313348494597, + 62.02866818369681 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -988.3283224239494, + -2360.5313348494597, + 62.02866818369681 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -990.9263986353028, + -2362.0313348494597, + 62.02866818369681 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -993.5244748466562, + -2363.5313348494597, + 62.02866818369681 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -993.5244748466562, + -2363.5313348494597, + 62.02866818369681 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -996.5244748466562, + -2363.5313348494597, + 62.02866818369681 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -999.5244748466562, + -2363.5313348494597, + 62.02866818369681 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1002.5244748466562, + -2363.5313348494597, + 62.02866818369681 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1005.5244748466562, + -2363.5313348494597, + 62.02866818369681 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1028.0, + -2376.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_3-15-57_1917957771/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_3-15-57_1917957771/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e867b6b3f665dc878fe9f9e4d06c5103139aac9d --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_3-15-57_1917957771/pose.jsonl @@ -0,0 +1,418 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 398.4848803625827, + 437.9094012344081, + 40.74124712346015 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 401.4848803625827, + 437.9094012344081, + 40.74124712346015 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 404.4848803625827, + 437.9094012344081, + 40.74124712346015 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 407.4848803625827, + 437.9094012344081, + 40.74124712346015 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 410.4848803625827, + 437.9094012344081, + 40.74124712346015 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 410.4848803625827, + 437.9094012344081, + 40.74124712346015 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 413.08295657393603, + 436.4094012344081, + 40.74124712346015 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 415.68103278528935, + 434.9094012344081, + 40.74124712346015 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 418.27910899664266, + 433.4094012344081, + 40.74124712346015 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 420.877185207996, + 431.9094012344081, + 40.74124712346015 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 423.4752614193493, + 430.4094012344081, + 40.74124712346015 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 426.0733376307026, + 428.9094012344081, + 40.74124712346015 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 428.6714138420559, + 427.4094012344081, + 40.74124712346015 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 431.26949005340924, + 425.9094012344081, + 40.74124712346015 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 433.86756626476256, + 424.4094012344081, + 40.74124712346015 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 436.4656424761159, + 422.9094012344081, + 40.74124712346015 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 439.0637186874692, + 421.4094012344081, + 40.74124712346015 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 441.6617948988225, + 419.9094012344081, + 40.74124712346015 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 441.6617948988225, + 419.9094012344081, + 40.74124712346015 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 444.6617948988225, + 419.9094012344081, + 40.74124712346015 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 447.6617948988225, + 419.9094012344081, + 40.74124712346015 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 450.6617948988225, + 419.9094012344081, + 40.74124712346015 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 453.6617948988225, + 419.9094012344081, + 40.74124712346015 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 456.6617948988225, + 419.9094012344081, + 40.74124712346015 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 459.6617948988225, + 419.9094012344081, + 40.74124712346015 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 462.6617948988225, + 419.9094012344081, + 40.74124712346015 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 462.6617948988225, + 419.9094012344081, + 40.74124712346015 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 465.2598711101758, + 418.4094012344081, + 40.74124712346015 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 467.85794732152914, + 416.9094012344081, + 40.74124712346015 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 470.45602353288245, + 415.4094012344081, + 40.74124712346015 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 473.05409974423577, + 413.9094012344081, + 40.74124712346015 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 492.0, + 408.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_3-16-55_285839403/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_3-16-55_285839403/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6b5ad7b9f9da2d1d416c4269e8f92dba530e3041 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_3-16-55_285839403/pose.jsonl @@ -0,0 +1,379 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1675.4754596168734, + -2905.4135476251063, + 48.80477570513658 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1676.9754596168734, + -2902.815471413753, + 48.80477570513658 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1678.4754596168734, + -2900.2173952024, + 48.80477570513658 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1679.9754596168734, + -2897.619318991047, + 48.80477570513658 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1681.4754596168734, + -2895.0212427796937, + 48.80477570513658 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1682.9754596168734, + -2892.4231665683405, + 48.80477570513658 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1684.4754596168734, + -2889.8250903569874, + 48.80477570513658 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1685.9754596168734, + -2887.2270141456343, + 48.80477570513658 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1687.4754596168734, + -2884.628937934281, + 48.80477570513658 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1688.9754596168734, + -2882.030861722928, + 48.80477570513658 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1690.4754596168734, + -2879.432785511575, + 48.80477570513658 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1691.9754596168734, + -2876.8347093002217, + 48.80477570513658 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1693.4754596168734, + -2874.2366330888685, + 48.80477570513658 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1694.9754596168734, + -2871.6385568775154, + 48.80477570513658 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1696.4754596168734, + -2869.0404806661622, + 48.80477570513658 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1697.9754596168734, + -2866.442404454809, + 48.80477570513658 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1699.4754596168734, + -2863.844328243456, + 48.80477570513658 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1700.9754596168734, + -2861.246252032103, + 48.80477570513658 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1702.4754596168734, + -2858.6481758207497, + 48.80477570513658 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1702.4754596168734, + -2858.6481758207497, + 48.80477570513658 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982706 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1705.0735358282268, + -2857.1481758207497, + 48.80477570513658 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1707.6716120395802, + -2855.6481758207497, + 48.80477570513658 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1710.2696882509335, + -2854.1481758207497, + 48.80477570513658 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1712.867764462287, + -2852.6481758207497, + 48.80477570513658 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1715.4658406736403, + -2851.1481758207497, + 48.80477570513658 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1715.4658406736403, + -2851.1481758207497, + 48.80477570513658 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1716.9658406736403, + -2848.5500996093965, + 48.80477570513658 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1718.4658406736403, + -2845.9520233980434, + 48.80477570513658 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965694 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1732.0, + -2828.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_3-21-17_1392665789/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_3-21-17_1392665789/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..643274951caff75e53635f5005f158d80bd90da6 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_3-21-17_1392665789/pose.jsonl @@ -0,0 +1,197 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3109.6137951860965, + 38.24716684784492, + 61.056063957239445 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3109.6137951860965, + 35.24716684784492, + 61.056063957239445 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3109.6137951860965, + 32.24716684784492, + 61.056063957239445 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3109.6137951860965, + 29.247166847844923, + 61.056063957239445 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3109.6137951860965, + 26.247166847844923, + 61.056063957239445 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3109.6137951860965, + 23.247166847844923, + 61.056063957239445 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3109.6137951860965, + 20.247166847844923, + 61.056063957239445 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3109.6137951860965, + 17.247166847844923, + 61.056063957239445 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 3109.6137951860965, + 14.247166847844923, + 61.056063957239445 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 3109.6137951860965, + 11.247166847844923, + 61.056063957239445 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 3109.6137951860965, + 11.247166847844923, + 61.056063957239445 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 3109.6137951860965, + 11.247166847844923, + 61.056063957239445 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 3112.2118713974496, + 9.747166847844923, + 61.056063957239445 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 3114.8099476088028, + 8.247166847844923, + 61.056063957239445 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755983272 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3124.0, + -24.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_3-22-9_1215992974/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_3-22-9_1215992974/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..eb5d1f5c397212882e1347f30cf90a25d3e351e8 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_3-22-9_1215992974/pose.jsonl @@ -0,0 +1,197 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2054.3177419393874, + -1611.1038077089047, + 63.632510556193786 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2056.9158181507405, + -1612.6038077089047, + 63.632510556193786 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2059.5138943620937, + -1614.1038077089047, + 63.632510556193786 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2062.111970573447, + -1615.6038077089047, + 63.632510556193786 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2064.7100467848, + -1617.1038077089047, + 63.632510556193786 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2067.308122996153, + -1618.6038077089047, + 63.632510556193786 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2069.9061992075062, + -1620.1038077089047, + 63.632510556193786 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2072.5042754188594, + -1621.6038077089047, + 63.632510556193786 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2075.1023516302125, + -1623.1038077089047, + 63.632510556193786 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2077.7004278415657, + -1624.6038077089047, + 63.632510556193786 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2077.7004278415657, + -1624.6038077089047, + 63.632510556193786 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535897647 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2080.7004278415657, + -1624.6038077089047, + 63.632510556193786 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2083.7004278415657, + -1624.6038077089047, + 63.632510556193786 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2086.7004278415657, + -1624.6038077089047, + 63.632510556193786 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2112.0, + -1636.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_3-3-7_844320799/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_3-3-7_844320799/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f466b61931c532081c4b37ecb9d1f175d52db181 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_3-3-7_844320799/pose.jsonl @@ -0,0 +1,67 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2714.6850423858373, + 1668.0165301996483, + 51.02398558351423 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2716.1850423858373, + 1670.6146064110017, + 51.02398558351423 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2717.6850423858373, + 1673.212682622355, + 51.02398558351423 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2719.1850423858373, + 1675.8107588337084, + 51.02398558351423 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2756.0, + 1720.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_3-31-32_1775428484/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_3-31-32_1775428484/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..121e8dee6d6098d6b647aeebb0dce7438d615bcd --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_3-31-32_1775428484/pose.jsonl @@ -0,0 +1,327 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2412.7465850492827, + -1794.8883922951695, + 51.46322575925028 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2414.2465850492827, + -1797.486468506523, + 51.46322575925028 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2415.7465850492827, + -1800.0845447178763, + 51.46322575925028 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2417.2465850492827, + -1802.6826209292296, + 51.46322575925028 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2418.7465850492827, + -1805.280697140583, + 51.46322575925028 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2420.2465850492827, + -1807.8787733519364, + 51.46322575925028 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2421.7465850492827, + -1810.4768495632898, + 51.46322575925028 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2423.2465850492827, + -1813.0749257746431, + 51.46322575925028 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2424.7465850492827, + -1815.6730019859965, + 51.46322575925028 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2426.2465850492827, + -1818.2710781973499, + 51.46322575925028 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2427.7465850492827, + -1820.8691544087033, + 51.46322575925028 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2429.2465850492827, + -1823.4672306200566, + 51.46322575925028 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2429.2465850492827, + -1823.4672306200566, + 51.46322575925028 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2431.844661260636, + -1824.9672306200566, + 51.46322575925028 + ], + "type": "turn left", + "value": 30, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2431.844661260636, + -1824.9672306200566, + 51.46322575925028 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931673 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2433.344661260636, + -1827.56530683141, + 51.46322575925028 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2434.844661260636, + -1830.1633830427634, + 51.46322575925028 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2436.344661260636, + -1832.7614592541167, + 51.46322575925028 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2437.844661260636, + -1835.3595354654701, + 51.46322575925028 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2439.344661260636, + -1837.9576116768235, + 51.46322575925028 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2440.844661260636, + -1840.5556878881769, + 51.46322575925028 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2442.344661260636, + -1843.1537640995302, + 51.46322575925028 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2443.844661260636, + -1845.7518403108836, + 51.46322575925028 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2445.344661260636, + -1848.349916522237, + 51.46322575925028 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2456.0, + -1868.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_3-31-46_845318908/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_3-31-46_845318908/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..631e24c25c6ee47787d6fb2cbbd7a77d01473f92 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_3-31-46_845318908/pose.jsonl @@ -0,0 +1,223 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4308.709380745674, + 2383.419786361796, + 66.24106833550182 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4308.709380745674, + 2386.419786361796, + 66.24106833550182 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4308.709380745674, + 2389.419786361796, + 66.24106833550182 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4308.709380745674, + 2392.419786361796, + 66.24106833550182 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4308.709380745674, + 2395.419786361796, + 66.24106833550182 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4308.709380745674, + 2398.419786361796, + 66.24106833550182 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4308.709380745674, + 2401.419786361796, + 66.24106833550182 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4308.709380745674, + 2404.419786361796, + 66.24106833550182 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4308.709380745674, + 2407.419786361796, + 66.24106833550182 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4308.709380745674, + 2410.419786361796, + 66.24106833550182 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4308.709380745674, + 2413.419786361796, + 66.24106833550182 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4308.709380745674, + 2416.419786361796, + 66.24106833550182 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4308.709380745674, + 2419.419786361796, + 66.24106833550182 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4308.709380745674, + 2422.419786361796, + 66.24106833550182 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4308.709380745674, + 2425.419786361796, + 66.24106833550182 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4308.709380745674, + 2428.419786361796, + 66.24106833550182 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4312.0, + 2456.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_3-32-28_408691647/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_3-32-28_408691647/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7b9b6a4e5f4d26dfd18e95d7188c04e70869f075 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_3-32-28_408691647/pose.jsonl @@ -0,0 +1,93 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4829.795200627785, + 1889.976568399045, + 68.89126090448329 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4831.295200627785, + 1887.3784921876916, + 68.89126090448329 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4832.795200627785, + 1884.7804159763382, + 68.89126090448329 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4832.795200627785, + 1884.7804159763382, + 68.89126090448329 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4832.795200627785, + 1881.7804159763382, + 68.89126090448329 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4832.795200627785, + 1878.7804159763382, + 68.89126090448329 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4856.0, + 1804.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_3-39-24_1187427397/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_3-39-24_1187427397/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e10f234692f1b418df6992131ead7e127c5dd09b --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_3-39-24_1187427397/pose.jsonl @@ -0,0 +1,106 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3600.9526306624325, + 2113.7506475451914, + 40.20471985248133 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3603.9526306624325, + 2113.7506475451914, + 40.20471985248133 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3606.9526306624325, + 2113.7506475451914, + 40.20471985248133 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3609.9526306624325, + 2113.7506475451914, + 40.20471985248133 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3609.9526306624325, + 2113.7506475451914, + 40.20471985248133 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3609.9526306624325, + 2113.7506475451914, + 40.20471985248133 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3611.4526306624325, + 2111.1525713338383, + 40.20471985248133 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965976 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3668.0, + 2088.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_3-4-14_987359759/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_3-4-14_987359759/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4c24103152698fcbce7b716a65ee97de96cbbfbd --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_3-4-14_987359759/pose.jsonl @@ -0,0 +1,353 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2493.42412565144, + -2138.3690940047513, + 65.05088754191084 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2490.42412565144, + -2138.3690940047513, + 65.05088754191084 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2487.42412565144, + -2138.3690940047513, + 65.05088754191084 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2484.42412565144, + -2138.3690940047513, + 65.05088754191084 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2481.42412565144, + -2138.3690940047513, + 65.05088754191084 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2478.42412565144, + -2138.3690940047513, + 65.05088754191084 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2475.42412565144, + -2138.3690940047513, + 65.05088754191084 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2472.42412565144, + -2138.3690940047513, + 65.05088754191084 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2469.42412565144, + -2138.3690940047513, + 65.05088754191084 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2466.42412565144, + -2138.3690940047513, + 65.05088754191084 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2463.42412565144, + -2138.3690940047513, + 65.05088754191084 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2460.42412565144, + -2138.3690940047513, + 65.05088754191084 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2457.42412565144, + -2138.3690940047513, + 65.05088754191084 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2454.42412565144, + -2138.3690940047513, + 65.05088754191084 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2451.42412565144, + -2138.3690940047513, + 65.05088754191084 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2448.42412565144, + -2138.3690940047513, + 65.05088754191084 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2445.42412565144, + -2138.3690940047513, + 65.05088754191084 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2442.42412565144, + -2138.3690940047513, + 65.05088754191084 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2442.42412565144, + -2138.3690940047513, + 65.05088754191084 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2442.42412565144, + -2138.3690940047513, + 65.05088754191084 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2440.92412565144, + -2135.771017793398, + 65.05088754191084 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2439.42412565144, + -2133.172941582045, + 65.05088754191084 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2437.92412565144, + -2130.574865370692, + 65.05088754191084 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2436.42412565144, + -2127.9767891593388, + 65.05088754191084 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2434.92412565144, + -2125.3787129479856, + 65.05088754191084 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2433.42412565144, + -2122.7806367366325, + 65.05088754191084 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965694 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2412.0, + -2116.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_3-41-38_122155988/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_3-41-38_122155988/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d20f988a5978cdd0a983656f73dd486e9b3a27ba --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_3-41-38_122155988/pose.jsonl @@ -0,0 +1,262 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2793.8948479354094, + -2107.754279109846, + 58.80422179834728 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2796.4929241467626, + -2109.254279109846, + 58.80422179834728 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2799.0910003581157, + -2110.754279109846, + 58.80422179834728 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2801.689076569469, + -2112.254279109846, + 58.80422179834728 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2804.287152780822, + -2113.754279109846, + 58.80422179834728 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2806.885228992175, + -2115.254279109846, + 58.80422179834728 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2809.4833052035283, + -2116.754279109846, + 58.80422179834728 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2812.0813814148814, + -2118.254279109846, + 58.80422179834728 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2814.6794576262346, + -2119.754279109846, + 58.80422179834728 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2817.2775338375877, + -2121.254279109846, + 58.80422179834728 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2817.2775338375877, + -2121.254279109846, + 58.80422179834728 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535897647 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2820.2775338375877, + -2121.254279109846, + 58.80422179834728 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2823.2775338375877, + -2121.254279109846, + 58.80422179834728 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2826.2775338375877, + -2121.254279109846, + 58.80422179834728 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2826.2775338375877, + -2121.254279109846, + 58.80422179834728 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2828.875610048941, + -2122.754279109846, + 58.80422179834728 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2831.473686260294, + -2124.254279109846, + 58.80422179834728 + ], + "type": "turn left", + "value": 30, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2831.473686260294, + -2124.254279109846, + 58.80422179834728 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931673 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2832.973686260294, + -2126.852355321199, + 58.80422179834728 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931673 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2876.0, + -2152.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_3-42-55_782091583/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_3-42-55_782091583/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..70c3c6b2c333549d68adc67ece4012bfa42a4619 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_3-42-55_782091583/pose.jsonl @@ -0,0 +1,353 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2383.8799765730782, + -500.50326897003316, + 46.163663745618315 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2386.8799765730782, + -500.50326897003316, + 46.163663745618315 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2389.8799765730782, + -500.50326897003316, + 46.163663745618315 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2392.8799765730782, + -500.50326897003316, + 46.163663745618315 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2395.8799765730782, + -500.50326897003316, + 46.163663745618315 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2398.8799765730782, + -500.50326897003316, + 46.163663745618315 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2401.8799765730782, + -500.50326897003316, + 46.163663745618315 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2404.8799765730782, + -500.50326897003316, + 46.163663745618315 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2407.8799765730782, + -500.50326897003316, + 46.163663745618315 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 2410.8799765730782, + -500.50326897003316, + 46.163663745618315 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2413.8799765730782, + -500.50326897003316, + 46.163663745618315 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2416.8799765730782, + -500.50326897003316, + 46.163663745618315 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 2419.8799765730782, + -500.50326897003316, + 46.163663745618315 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 2422.8799765730782, + -500.50326897003316, + 46.163663745618315 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 2425.8799765730782, + -500.50326897003316, + 46.163663745618315 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 2428.8799765730782, + -500.50326897003316, + 46.163663745618315 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 2428.8799765730782, + -500.50326897003316, + 46.163663745618315 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 2428.8799765730782, + -500.50326897003316, + 46.163663745618315 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 2430.3799765730782, + -503.1013451813865, + 46.163663745618315 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 2431.8799765730782, + -505.6994213927398, + 46.163663745618315 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 2433.3799765730782, + -508.2974976040931, + 46.163663745618315 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 2434.8799765730782, + -510.8955738154464, + 46.163663745618315 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 2434.8799765730782, + -510.8955738154464, + 46.163663745618315 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 2437.4780527844314, + -512.3955738154464, + 46.163663745618315 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983109 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 2440.0761289957845, + -513.8955738154464, + 46.163663745618315 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 2442.6742052071377, + -515.3955738154464, + 46.163663745618315 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755983272 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2460.0, + -520.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_3-44-50_59770330/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_3-44-50_59770330/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6df9564b3e909694bfa7a8e4b24373448c2bb9fd --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_3-44-50_59770330/pose.jsonl @@ -0,0 +1,223 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1721.6267869591145, + -2296.068511552385, + 66.0774895822589 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1723.1267869591145, + -2293.470435341032, + 66.0774895822589 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1724.6267869591145, + -2290.872359129679, + 66.0774895822589 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1726.1267869591145, + -2288.2742829183258, + 66.0774895822589 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1727.6267869591145, + -2285.6762067069726, + 66.0774895822589 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1729.1267869591145, + -2283.0781304956195, + 66.0774895822589 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1730.6267869591145, + -2280.4800542842663, + 66.0774895822589 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1730.6267869591145, + -2280.4800542842663, + 66.0774895822589 + ], + "type": "go straight", + "value": 3, + "yaw": 1.570796326794925 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1730.6267869591145, + -2277.4800542842663, + 66.0774895822589 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1730.6267869591145, + -2274.4800542842663, + 66.0774895822589 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1730.6267869591145, + -2271.4800542842663, + 66.0774895822589 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1730.6267869591145, + -2268.4800542842663, + 66.0774895822589 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1730.6267869591145, + -2265.4800542842663, + 66.0774895822589 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1730.6267869591145, + -2262.4800542842663, + 66.0774895822589 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1730.6267869591145, + -2259.4800542842663, + 66.0774895822589 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1730.6267869591145, + -2256.4800542842663, + 66.0774895822589 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1740.0, + -2232.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_3-48-56_336428585/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_3-48-56_336428585/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7c37514c8bacf2c9643cad527d7321903d88dfbf --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_3-48-56_336428585/pose.jsonl @@ -0,0 +1,67 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2705.5614599402747, + -2770.5926337275455, + 53.00568849383514 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2702.5614599402747, + -2770.5926337275455, + 53.00568849383514 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2699.5614599402747, + -2770.5926337275455, + 53.00568849383514 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2696.5614599402747, + -2770.5926337275455, + 53.00568849383514 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2620.0, + -2792.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_3-5-35_48522001/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_3-5-35_48522001/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..91c1808974a9107c64d7aac78efe98bb9ca320cb --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_3-5-35_48522001/pose.jsonl @@ -0,0 +1,80 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2174.3928833522614, + 385.5673396597176, + 66.60609380534996 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2172.8928833522614, + 382.9692634483643, + 66.60609380534996 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2171.3928833522614, + 380.371187237011, + 66.60609380534996 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2171.3928833522614, + 380.371187237011, + 66.60609380534996 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2168.7948071409082, + 378.871187237011, + 66.60609380534996 + ], + "type": "stop", + "value": 0, + "yaw": -0.523598775598299 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2124.0, + 340.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_3-52-24_2070199088/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_3-52-24_2070199088/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8e39db2a3db9ccc6f553d72f1f4c92e3ddfeb7fb --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_3-52-24_2070199088/pose.jsonl @@ -0,0 +1,184 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2461.9013103273096, + -2947.8644631799853, + 65.23608171604977 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2459.3032341159565, + -2949.3644631799853, + 65.23608171604977 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2456.7051579046033, + -2950.8644631799853, + 65.23608171604977 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2454.10708169325, + -2952.3644631799853, + 65.23608171604977 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2451.509005481897, + -2953.8644631799853, + 65.23608171604977 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2448.910929270544, + -2955.3644631799853, + 65.23608171604977 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2446.3128530591907, + -2956.8644631799853, + 65.23608171604977 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2443.7147768478376, + -2958.3644631799853, + 65.23608171604977 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2441.1167006364844, + -2959.8644631799853, + 65.23608171604977 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 2438.5186244251313, + -2961.3644631799853, + 65.23608171604977 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2435.920548213778, + -2962.8644631799853, + 65.23608171604977 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2433.322472002425, + -2964.3644631799853, + 65.23608171604977 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 2430.724395791072, + -2965.8644631799853, + 65.23608171604977 + ], + "type": "stop", + "value": 0, + "yaw": -2.617993877991466 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2408.0, + -2984.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_3-53-23_332682669/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_3-53-23_332682669/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5ea012111ce5b22ad05939bba07f4017cfa77d8e --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_3-53-23_332682669/pose.jsonl @@ -0,0 +1,210 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -12.090242478347193, + 539.8541021946197, + 60.442346440744515 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -13.590242478347193, + 542.452178405973, + 60.442346440744515 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -15.090242478347193, + 545.0502546173263, + 60.442346440744515 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -16.590242478347193, + 547.6483308286797, + 60.442346440744515 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -18.090242478347193, + 550.2464070400331, + 60.442346440744515 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -19.590242478347193, + 552.8444832513865, + 60.442346440744515 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -21.090242478347193, + 555.4425594627398, + 60.442346440744515 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -22.590242478347193, + 558.0406356740932, + 60.442346440744515 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -24.090242478347193, + 560.6387118854466, + 60.442346440744515 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -25.590242478347193, + 563.2367880968, + 60.442346440744515 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -27.090242478347193, + 565.8348643081533, + 60.442346440744515 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -28.590242478347193, + 568.4329405195067, + 60.442346440744515 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -30.090242478347193, + 571.0310167308601, + 60.442346440744515 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -31.590242478347193, + 573.6290929422134, + 60.442346440744515 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -33.09024247834719, + 576.2271691535668, + 60.442346440744515 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -56.0, + 608.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_3-55-21_38199531/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_3-55-21_38199531/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4770ef23b21998cc839612141f5047945696d1d0 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_3-55-21_38199531/pose.jsonl @@ -0,0 +1,223 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1477.8196623958515, + -199.23563977708608, + 57.41112180318366 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1474.8196623958515, + -199.23563977708608, + 57.41112180318366 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1471.8196623958515, + -199.23563977708608, + 57.41112180318366 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1468.8196623958515, + -199.23563977708608, + 57.41112180318366 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1465.8196623958515, + -199.23563977708608, + 57.41112180318366 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1462.8196623958515, + -199.23563977708608, + 57.41112180318366 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1459.8196623958515, + -199.23563977708608, + 57.41112180318366 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1456.8196623958515, + -199.23563977708608, + 57.41112180318366 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1453.8196623958515, + -199.23563977708608, + 57.41112180318366 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1450.8196623958515, + -199.23563977708608, + 57.41112180318366 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1447.8196623958515, + -199.23563977708608, + 57.41112180318366 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1444.8196623958515, + -199.23563977708608, + 57.41112180318366 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1444.8196623958515, + -199.23563977708608, + 57.41112180318366 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1442.2215861844982, + -197.73563977708608, + 57.41112180318366 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1439.6235099731448, + -196.23563977708608, + 57.41112180318366 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1437.0254337617914, + -194.73563977708608, + 57.41112180318366 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1416.0, + -192.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_3-55-34_1334600469/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_3-55-34_1334600469/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..49e9149acc5909e2f1493b2ece89835a46c5d562 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_3-55-34_1334600469/pose.jsonl @@ -0,0 +1,54 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4010.648125223096, + 1055.3747236697639, + 56.71858203851995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4012.148125223096, + 1057.9727998811172, + 56.71858203851995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4013.648125223096, + 1060.5708760924706, + 56.71858203851995 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4036.0, + 1112.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_3-57-45_1315147408/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_3-57-45_1315147408/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f0888988e742ca00ba597fdf8ae78f8f49d2b21c --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_3-57-45_1315147408/pose.jsonl @@ -0,0 +1,119 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3917.337297606722, + -2545.1739176159804, + 61.24798016291876 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3915.837297606722, + -2542.575841404627, + 61.24798016291876 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3914.337297606722, + -2539.977765193274, + 61.24798016291876 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3912.837297606722, + -2537.379688981921, + 61.24798016291876 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3911.337297606722, + -2534.781612770568, + 61.24798016291876 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3909.837297606722, + -2532.1835365592146, + 61.24798016291876 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3908.337297606722, + -2529.5854603478615, + 61.24798016291876 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3906.837297606722, + -2526.9873841365084, + 61.24798016291876 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023932237 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3888.0, + -2492.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_3-9-24_1262129793/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_3-9-24_1262129793/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4cbdff6624c528fa13690f0f05c9f07c770f105b --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_3-9-24_1262129793/pose.jsonl @@ -0,0 +1,366 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2376.7669099000254, + 1706.0249532081773, + 64.87303430656593 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2378.2669099000254, + 1703.426876996824, + 64.87303430656593 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2379.7669099000254, + 1700.8288007854705, + 64.87303430656593 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2381.2669099000254, + 1698.2307245741172, + 64.87303430656593 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2382.7669099000254, + 1695.6326483627638, + 64.87303430656593 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2384.2669099000254, + 1693.0345721514104, + 64.87303430656593 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2385.7669099000254, + 1690.436495940057, + 64.87303430656593 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2387.2669099000254, + 1687.8384197287037, + 64.87303430656593 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2388.7669099000254, + 1685.2403435173503, + 64.87303430656593 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2390.2669099000254, + 1682.642267305997, + 64.87303430656593 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2391.7669099000254, + 1680.0441910946436, + 64.87303430656593 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2393.2669099000254, + 1677.4461148832902, + 64.87303430656593 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2394.7669099000254, + 1674.8480386719368, + 64.87303430656593 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2396.2669099000254, + 1672.2499624605834, + 64.87303430656593 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2397.7669099000254, + 1669.65188624923, + 64.87303430656593 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2399.2669099000254, + 1667.0538100378767, + 64.87303430656593 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2400.7669099000254, + 1664.4557338265233, + 64.87303430656593 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2400.7669099000254, + 1664.4557338265233, + 64.87303430656593 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2400.7669099000254, + 1661.4557338265233, + 64.87303430656593 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2400.7669099000254, + 1658.4557338265233, + 64.87303430656593 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2400.7669099000254, + 1655.4557338265233, + 64.87303430656593 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2400.7669099000254, + 1652.4557338265233, + 64.87303430656593 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2400.7669099000254, + 1649.4557338265233, + 64.87303430656593 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2400.7669099000254, + 1646.4557338265233, + 64.87303430656593 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2400.7669099000254, + 1643.4557338265233, + 64.87303430656593 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2400.7669099000254, + 1643.4557338265233, + 64.87303430656593 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2402.2669099000254, + 1640.85765761517, + 64.87303430656593 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2412.0, + 1616.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_4-0-0_1056865451/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_4-0-0_1056865451/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4ef13783b9123a693d4010594240c4156c52bd7e --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_4-0-0_1056865451/pose.jsonl @@ -0,0 +1,444 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -600.0128548577984, + 1188.0419322825262, + 49.77218359228163 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -597.0128548577984, + 1188.0419322825262, + 49.77218359228163 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -594.0128548577984, + 1188.0419322825262, + 49.77218359228163 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -591.0128548577984, + 1188.0419322825262, + 49.77218359228163 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -588.0128548577984, + 1188.0419322825262, + 49.77218359228163 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -588.0128548577984, + 1188.0419322825262, + 49.77218359228163 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -588.0128548577984, + 1188.0419322825262, + 49.77218359228163 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -586.5128548577984, + 1190.6400084938796, + 49.77218359228163 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -585.0128548577984, + 1193.238084705233, + 49.77218359228163 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -583.5128548577984, + 1195.8361609165863, + 49.77218359228163 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -583.5128548577984, + 1195.8361609165863, + 49.77218359228163 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -580.914778646445, + 1197.3361609165863, + 49.77218359228163 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -578.3167024350917, + 1198.8361609165863, + 49.77218359228163 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -575.7186262237383, + 1200.3361609165863, + 49.77218359228163 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -573.1205500123849, + 1201.8361609165863, + 49.77218359228163 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -570.5224738010315, + 1203.3361609165863, + 49.77218359228163 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -567.9243975896782, + 1204.8361609165863, + 49.77218359228163 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -565.3263213783248, + 1206.3361609165863, + 49.77218359228163 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -562.7282451669714, + 1207.8361609165863, + 49.77218359228163 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -560.130168955618, + 1209.3361609165863, + 49.77218359228163 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -557.5320927442647, + 1210.8361609165863, + 49.77218359228163 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -554.9340165329113, + 1212.3361609165863, + 49.77218359228163 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -552.3359403215579, + 1213.8361609165863, + 49.77218359228163 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -549.7378641102046, + 1215.3361609165863, + 49.77218359228163 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -547.1397878988512, + 1216.8361609165863, + 49.77218359228163 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -544.5417116874978, + 1218.3361609165863, + 49.77218359228163 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -541.9436354761444, + 1219.8361609165863, + 49.77218359228163 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -539.3455592647911, + 1221.3361609165863, + 49.77218359228163 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -536.7474830534377, + 1222.8361609165863, + 49.77218359228163 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -534.1494068420843, + 1224.3361609165863, + 49.77218359228163 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -531.551330630731, + 1225.8361609165863, + 49.77218359228163 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -528.9532544193776, + 1227.3361609165863, + 49.77218359228163 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -526.3551782080242, + 1228.8361609165863, + 49.77218359228163 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -516.0, + 1236.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_4-1-52_324591026/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_4-1-52_324591026/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2624379ea5ae94d5863bf27575183a64b744eb48 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_4-1-52_324591026/pose.jsonl @@ -0,0 +1,301 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2499.887793391255, + 640.2938266907393, + 69.30210950947897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2496.887793391255, + 640.2938266907393, + 69.30210950947897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2493.887793391255, + 640.2938266907393, + 69.30210950947897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2490.887793391255, + 640.2938266907393, + 69.30210950947897 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2487.887793391255, + 640.2938266907393, + 69.30210950947897 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2487.887793391255, + 640.2938266907393, + 69.30210950947897 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2485.289717179902, + 638.7938266907393, + 69.30210950947897 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2482.6916409685487, + 637.2938266907393, + 69.30210950947897 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2480.0935647571955, + 635.7938266907393, + 69.30210950947897 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2477.4954885458424, + 634.2938266907393, + 69.30210950947897 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2474.897412334489, + 632.7938266907393, + 69.30210950947897 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2472.299336123136, + 631.2938266907393, + 69.30210950947897 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2469.701259911783, + 629.7938266907393, + 69.30210950947897 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2467.10318370043, + 628.2938266907393, + 69.30210950947897 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2464.5051074890766, + 626.7938266907393, + 69.30210950947897 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2461.9070312777235, + 625.2938266907393, + 69.30210950947897 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2459.3089550663703, + 623.7938266907393, + 69.30210950947897 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2456.710878855017, + 622.2938266907393, + 69.30210950947897 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2454.112802643664, + 620.7938266907393, + 69.30210950947897 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2451.514726432311, + 619.2938266907393, + 69.30210950947897 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2451.514726432311, + 619.2938266907393, + 69.30210950947897 + ], + "type": "go straight", + "value": 3, + "yaw": -2.842170943040401e-14 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2448.514726432311, + 619.2938266907393, + 69.30210950947897 + ], + "type": "stop", + "value": 0, + "yaw": -2.842170943040401e-14 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2436.0, + 616.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_4-13-43_705605356/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_4-13-43_705605356/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..70930e54d08b22f7573ebb17b850bc8ecdf3fbe7 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_4-13-43_705605356/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 109.32346177322698, + -1834.4977888507312, + 52.376385464092024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 112.32346177322698, + -1834.4977888507312, + 52.376385464092024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 115.32346177322698, + -1834.4977888507312, + 52.376385464092024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 118.32346177322698, + -1834.4977888507312, + 52.376385464092024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 121.32346177322698, + -1834.4977888507312, + 52.376385464092024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 124.32346177322698, + -1834.4977888507312, + 52.376385464092024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 127.32346177322698, + -1834.4977888507312, + 52.376385464092024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 130.323461773227, + -1834.4977888507312, + 52.376385464092024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 133.323461773227, + -1834.4977888507312, + 52.376385464092024 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 133.323461773227, + -1834.4977888507312, + 52.376385464092024 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 133.323461773227, + -1834.4977888507312, + 52.376385464092024 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 134.823461773227, + -1837.0958650620846, + 52.376385464092024 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 136.323461773227, + -1839.693941273438, + 52.376385464092024 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 136.323461773227, + -1839.693941273438, + 52.376385464092024 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 136.323461773227, + -1842.693941273438, + 52.376385464092024 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 136.323461773227, + -1845.693941273438, + 52.376385464092024 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 136.323461773227, + -1848.693941273438, + 52.376385464092024 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 136.323461773227, + -1851.693941273438, + 52.376385464092024 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 136.323461773227, + -1854.693941273438, + 52.376385464092024 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 136.323461773227, + -1857.693941273438, + 52.376385464092024 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 136.323461773227, + -1860.693941273438, + 52.376385464092024 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 136.323461773227, + -1863.693941273438, + 52.376385464092024 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 136.323461773227, + -1866.693941273438, + 52.376385464092024 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 136.323461773227, + -1869.693941273438, + 52.376385464092024 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 136.323461773227, + -1872.693941273438, + 52.376385464092024 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 136.323461773227, + -1875.693941273438, + 52.376385464092024 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 136.323461773227, + -1878.693941273438, + 52.376385464092024 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 136.323461773227, + -1878.693941273438, + 52.376385464092024 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 136.323461773227, + -1878.693941273438, + 52.376385464092024 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 136.323461773227, + -1878.693941273438, + 52.376385464092024 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 133.323461773227, + -1878.693941273438, + 52.376385464092024 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 133.323461773227, + -1878.693941273438, + 52.376385464092024 + ], + "type": "turn left", + "value": 30, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 133.323461773227, + -1878.693941273438, + 52.376385464092024 + ], + "type": "go straight", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 131.823461773227, + -1881.2920174847914, + 52.376385464092024 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 130.323461773227, + -1883.8900936961447, + 52.376385464092024 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 128.823461773227, + -1886.488169907498, + 52.376385464092024 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 127.323461773227, + -1889.0862461188515, + 52.376385464092024 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 125.823461773227, + -1891.6843223302049, + 52.376385464092024 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 124.323461773227, + -1894.2823985415582, + 52.376385464092024 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 122.823461773227, + -1896.8804747529116, + 52.376385464092024 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 121.323461773227, + -1899.478550964265, + 52.376385464092024 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 119.823461773227, + -1902.0766271756183, + 52.376385464092024 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 118.323461773227, + -1904.6747033869717, + 52.376385464092024 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 116.823461773227, + -1907.272779598325, + 52.376385464092024 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 115.323461773227, + -1909.8708558096785, + 52.376385464092024 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 113.823461773227, + -1912.4689320210318, + 52.376385464092024 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 112.323461773227, + -1915.0670082323852, + 52.376385464092024 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 110.823461773227, + -1917.6650844437386, + 52.376385464092024 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 112.0, + -1932.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_4-15-18_309418564/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_4-15-18_309418564/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a698db0b141ed1f749bba3f8e991bfdd9762cf2a --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_4-15-18_309418564/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 108.65419861528603, + 72.45428723348358, + 47.5456926243194 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 111.65419861528603, + 72.45428723348358, + 47.5456926243194 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 114.65419861528603, + 72.45428723348358, + 47.5456926243194 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 117.65419861528603, + 72.45428723348358, + 47.5456926243194 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 120.65419861528603, + 72.45428723348358, + 47.5456926243194 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 123.65419861528603, + 72.45428723348358, + 47.5456926243194 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 126.65419861528603, + 72.45428723348358, + 47.5456926243194 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 129.65419861528602, + 72.45428723348358, + 47.5456926243194 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 132.65419861528602, + 72.45428723348358, + 47.5456926243194 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 135.65419861528602, + 72.45428723348358, + 47.5456926243194 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 138.65419861528602, + 72.45428723348358, + 47.5456926243194 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 138.65419861528602, + 72.45428723348358, + 47.5456926243194 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 138.65419861528602, + 72.45428723348358, + 47.5456926243194 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 140.15419861528602, + 75.0523634448369, + 47.5456926243194 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 141.65419861528602, + 77.65043965619022, + 47.5456926243194 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 143.15419861528602, + 80.24851586754353, + 47.5456926243194 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 144.65419861528602, + 82.84659207889685, + 47.5456926243194 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 146.15419861528602, + 85.44466829025016, + 47.5456926243194 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 147.65419861528602, + 88.04274450160348, + 47.5456926243194 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 149.15419861528602, + 90.6408207129568, + 47.5456926243194 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 149.15419861528602, + 90.6408207129568, + 47.5456926243194 + ], + "type": "turn right", + "value": 30, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 149.15419861528602, + 90.6408207129568, + 47.5456926243194 + ], + "type": "go straight", + "value": 3, + "yaw": 2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 152.15419861528602, + 90.6408207129568, + 47.5456926243194 + ], + "type": "stop", + "value": 0, + "yaw": 2.220446049250313e-16 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 176.0, + 100.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_4-19-2_2004077773/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_4-19-2_2004077773/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..36435dff15295ad1b30e11ae4e1a69547135faf1 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_4-19-2_2004077773/pose.jsonl @@ -0,0 +1,366 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1845.87610436246, + -195.99896349017848, + 56.940336537623224 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1845.87610436246, + -192.99896349017848, + 56.940336537623224 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1845.87610436246, + -189.99896349017848, + 56.940336537623224 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1845.87610436246, + -186.99896349017848, + 56.940336537623224 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1845.87610436246, + -183.99896349017848, + 56.940336537623224 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1845.87610436246, + -180.99896349017848, + 56.940336537623224 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1845.87610436246, + -177.99896349017848, + 56.940336537623224 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1845.87610436246, + -174.99896349017848, + 56.940336537623224 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1845.87610436246, + -171.99896349017848, + 56.940336537623224 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1845.87610436246, + -168.99896349017848, + 56.940336537623224 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1845.87610436246, + -165.99896349017848, + 56.940336537623224 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1845.87610436246, + -162.99896349017848, + 56.940336537623224 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1845.87610436246, + -159.99896349017848, + 56.940336537623224 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1845.87610436246, + -156.99896349017848, + 56.940336537623224 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1845.87610436246, + -153.99896349017848, + 56.940336537623224 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1845.87610436246, + -150.99896349017848, + 56.940336537623224 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1845.87610436246, + -147.99896349017848, + 56.940336537623224 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1845.87610436246, + -147.99896349017848, + 56.940336537623224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1847.37610436246, + -145.40088727882517, + 56.940336537623224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1848.87610436246, + -142.80281106747185, + 56.940336537623224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1850.37610436246, + -140.20473485611853, + 56.940336537623224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1851.87610436246, + -137.60665864476522, + 56.940336537623224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1853.37610436246, + -135.0085824334119, + 56.940336537623224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1854.87610436246, + -132.4105062220586, + 56.940336537623224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1856.37610436246, + -129.81243001070527, + 56.940336537623224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1857.87610436246, + -127.21435379935195, + 56.940336537623224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1859.37610436246, + -124.61627758799864, + 56.940336537623224 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1864.0, + -104.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_4-19-41_615073828/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_4-19-41_615073828/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5805e8cf91d27cd7b3596c33d36e5af78ee0f7bb --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_4-19-41_615073828/pose.jsonl @@ -0,0 +1,223 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 226.26476183230668, + 1816.352120495452, + 45.10246674364598 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 224.76476183230668, + 1818.9501967068054, + 45.10246674364598 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 223.26476183230668, + 1821.5482729181588, + 45.10246674364598 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 221.76476183230668, + 1824.1463491295121, + 45.10246674364598 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 220.26476183230668, + 1826.7444253408655, + 45.10246674364598 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 218.76476183230668, + 1829.342501552219, + 45.10246674364598 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 217.26476183230668, + 1831.9405777635723, + 45.10246674364598 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 215.76476183230668, + 1834.5386539749256, + 45.10246674364598 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 214.26476183230668, + 1837.136730186279, + 45.10246674364598 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 212.76476183230668, + 1839.7348063976324, + 45.10246674364598 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 211.26476183230668, + 1842.3328826089858, + 45.10246674364598 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 209.76476183230668, + 1844.9309588203391, + 45.10246674364598 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 208.26476183230668, + 1847.5290350316925, + 45.10246674364598 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 206.76476183230668, + 1850.1271112430459, + 45.10246674364598 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 205.26476183230668, + 1852.7251874543992, + 45.10246674364598 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 203.76476183230668, + 1855.3232636657526, + 45.10246674364598 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 192.0, + 1876.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_4-2-6_1062218704/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_4-2-6_1062218704/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7975e49acf04868442920e441c54582302830fec --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_4-2-6_1062218704/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1835.6834132504778, + -1992.8671572775459, + 44.17356594102914 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1837.1834132504778, + -1995.4652334888992, + 44.17356594102914 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1838.6834132504778, + -1998.0633097002526, + 44.17356594102914 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1840.1834132504778, + -2000.661385911606, + 44.17356594102914 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1841.6834132504778, + -2003.2594621229593, + 44.17356594102914 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1843.1834132504778, + -2005.8575383343127, + 44.17356594102914 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1844.6834132504778, + -2008.455614545666, + 44.17356594102914 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1846.1834132504778, + -2011.0536907570195, + 44.17356594102914 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1847.6834132504778, + -2013.6517669683728, + 44.17356594102914 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1849.1834132504778, + -2016.2498431797262, + 44.17356594102914 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1850.6834132504778, + -2018.8479193910796, + 44.17356594102914 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1852.1834132504778, + -2021.445995602433, + 44.17356594102914 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1853.6834132504778, + -2024.0440718137863, + 44.17356594102914 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1855.1834132504778, + -2026.6421480251397, + 44.17356594102914 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1856.6834132504778, + -2029.240224236493, + 44.17356594102914 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1858.1834132504778, + -2031.8383004478464, + 44.17356594102914 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1859.6834132504778, + -2034.4363766591998, + 44.17356594102914 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1861.1834132504778, + -2037.0344528705532, + 44.17356594102914 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1862.6834132504778, + -2039.6325290819066, + 44.17356594102914 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1864.1834132504778, + -2042.23060529326, + 44.17356594102914 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1865.6834132504778, + -2044.8286815046133, + 44.17356594102914 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1867.1834132504778, + -2047.4267577159667, + 44.17356594102914 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1868.6834132504778, + -2050.02483392732, + 44.17356594102914 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1880.0, + -2068.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_4-22-53_1383866429/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_4-22-53_1383866429/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fac08d453d4ae741191354a7c246e7d6d8c9ed24 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_4-22-53_1383866429/pose.jsonl @@ -0,0 +1,262 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -160.659282280909, + -1988.8022568032084, + 53.359522112832266 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -160.659282280909, + -1991.8022568032084, + 53.359522112832266 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -160.659282280909, + -1994.8022568032084, + 53.359522112832266 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -160.659282280909, + -1997.8022568032084, + 53.359522112832266 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -160.659282280909, + -2000.8022568032084, + 53.359522112832266 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -160.659282280909, + -2003.8022568032084, + 53.359522112832266 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -160.659282280909, + -2006.8022568032084, + 53.359522112832266 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -160.659282280909, + -2009.8022568032084, + 53.359522112832266 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -160.659282280909, + -2012.8022568032084, + 53.359522112832266 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -160.659282280909, + -2015.8022568032084, + 53.359522112832266 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -160.659282280909, + -2018.8022568032084, + 53.359522112832266 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -160.659282280909, + -2021.8022568032084, + 53.359522112832266 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -160.659282280909, + -2024.8022568032084, + 53.359522112832266 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -160.659282280909, + -2027.8022568032084, + 53.359522112832266 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -160.659282280909, + -2030.8022568032084, + 53.359522112832266 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -160.659282280909, + -2033.8022568032084, + 53.359522112832266 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -160.659282280909, + -2036.8022568032084, + 53.359522112832266 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -160.659282280909, + -2039.8022568032084, + 53.359522112832266 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -160.659282280909, + -2042.8022568032084, + 53.359522112832266 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -164.0, + -2088.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_4-24-22_1281644146/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_4-24-22_1281644146/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7c0581727a5b4d518910599ba8d422d7f8fd5bde --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_4-24-22_1281644146/pose.jsonl @@ -0,0 +1,340 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1897.3701689124948, + -1576.4226452623398, + 48.97593485123837 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1897.3701689124948, + -1579.4226452623398, + 48.97593485123837 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1897.3701689124948, + -1582.4226452623398, + 48.97593485123837 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1897.3701689124948, + -1585.4226452623398, + 48.97593485123837 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1897.3701689124948, + -1588.4226452623398, + 48.97593485123837 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1897.3701689124948, + -1591.4226452623398, + 48.97593485123837 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1897.3701689124948, + -1594.4226452623398, + 48.97593485123837 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1897.3701689124948, + -1597.4226452623398, + 48.97593485123837 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1897.3701689124948, + -1600.4226452623398, + 48.97593485123837 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1897.3701689124948, + -1603.4226452623398, + 48.97593485123837 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1897.3701689124948, + -1606.4226452623398, + 48.97593485123837 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1897.3701689124948, + -1609.4226452623398, + 48.97593485123837 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1897.3701689124948, + -1612.4226452623398, + 48.97593485123837 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1897.3701689124948, + -1615.4226452623398, + 48.97593485123837 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1897.3701689124948, + -1618.4226452623398, + 48.97593485123837 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1897.3701689124948, + -1621.4226452623398, + 48.97593485123837 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1897.3701689124948, + -1624.4226452623398, + 48.97593485123837 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1897.3701689124948, + -1627.4226452623398, + 48.97593485123837 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1897.3701689124948, + -1627.4226452623398, + 48.97593485123837 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1895.8701689124948, + -1630.0207214736931, + 48.97593485123837 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1894.3701689124948, + -1632.6187976850465, + 48.97593485123837 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1892.8701689124948, + -1635.2168738963999, + 48.97593485123837 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1891.3701689124948, + -1637.8149501077532, + 48.97593485123837 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1889.8701689124948, + -1640.4130263191066, + 48.97593485123837 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1888.3701689124948, + -1643.01110253046, + 48.97593485123837 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1888.0, + -1660.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_4-25-22_4880533/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_4-25-22_4880533/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..52cf6c76fa63b5e6b60f122ae2f7ec29d80da70c --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_4-25-22_4880533/pose.jsonl @@ -0,0 +1,223 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1294.1262066003105, + 1471.6810165594445, + 61.070236885285446 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1291.5281303889572, + 1473.1810165594445, + 61.070236885285446 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1288.9300541776038, + 1474.6810165594445, + 61.070236885285446 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1286.3319779662504, + 1476.1810165594445, + 61.070236885285446 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1283.733901754897, + 1477.6810165594445, + 61.070236885285446 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1281.1358255435437, + 1479.1810165594445, + 61.070236885285446 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1278.5377493321903, + 1480.6810165594445, + 61.070236885285446 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1275.939673120837, + 1482.1810165594445, + 61.070236885285446 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1273.3415969094835, + 1483.6810165594445, + 61.070236885285446 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1270.7435206981302, + 1485.1810165594445, + 61.070236885285446 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1268.1454444867768, + 1486.6810165594445, + 61.070236885285446 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1265.5473682754234, + 1488.1810165594445, + 61.070236885285446 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1262.94929206407, + 1489.6810165594445, + 61.070236885285446 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1260.3512158527167, + 1491.1810165594445, + 61.070236885285446 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1257.7531396413633, + 1492.6810165594445, + 61.070236885285446 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1255.15506343001, + 1494.1810165594445, + 61.070236885285446 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1236.0, + 1508.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_4-25-34_207222095/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_4-25-34_207222095/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..10182c7772e47dd99f2a92d38ab84f6e7d61e4b4 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_4-25-34_207222095/pose.jsonl @@ -0,0 +1,54 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 210.2811381791882, + -1955.467851201165, + 61.4915203288355 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 207.2811381791882, + -1955.467851201165, + 61.4915203288355 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 204.2811381791882, + -1955.467851201165, + 61.4915203288355 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 152.0, + -1940.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_4-29-47_1043880685/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_4-29-47_1043880685/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b7c466eaba268e6a4b9b4971e389d4ed9a6531a8 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_4-29-47_1043880685/pose.jsonl @@ -0,0 +1,93 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4312.349308843202, + 514.3950384613225, + 56.15277664651289 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4310.849308843202, + 516.9931146726758, + 56.15277664651289 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4309.349308843202, + 519.5911908840292, + 56.15277664651289 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4307.849308843202, + 522.1892670953825, + 56.15277664651289 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4306.349308843202, + 524.7873433067359, + 56.15277664651289 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4304.849308843202, + 527.3854195180893, + 56.15277664651289 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4280.0, + 572.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_4-32-34_749527092/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_4-32-34_749527092/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5f43c66a3d796e1e15bbd9f9bf9097bf59524028 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_4-32-34_749527092/pose.jsonl @@ -0,0 +1,366 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -269.23963760094824, + -2319.908134296843, + 56.092440829795706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -269.23963760094824, + -2322.908134296843, + 56.092440829795706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -269.23963760094824, + -2325.908134296843, + 56.092440829795706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -269.23963760094824, + -2328.908134296843, + 56.092440829795706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -269.23963760094824, + -2331.908134296843, + 56.092440829795706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -269.23963760094824, + -2334.908134296843, + 56.092440829795706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -269.23963760094824, + -2337.908134296843, + 56.092440829795706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -269.23963760094824, + -2340.908134296843, + 56.092440829795706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -269.23963760094824, + -2343.908134296843, + 56.092440829795706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -269.23963760094824, + -2346.908134296843, + 56.092440829795706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -269.23963760094824, + -2349.908134296843, + 56.092440829795706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -269.23963760094824, + -2352.908134296843, + 56.092440829795706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -269.23963760094824, + -2355.908134296843, + 56.092440829795706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -269.23963760094824, + -2358.908134296843, + 56.092440829795706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -269.23963760094824, + -2361.908134296843, + 56.092440829795706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -269.23963760094824, + -2364.908134296843, + 56.092440829795706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -269.23963760094824, + -2367.908134296843, + 56.092440829795706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -269.23963760094824, + -2370.908134296843, + 56.092440829795706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -269.23963760094824, + -2373.908134296843, + 56.092440829795706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -269.23963760094824, + -2376.908134296843, + 56.092440829795706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -269.23963760094824, + -2379.908134296843, + 56.092440829795706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -269.23963760094824, + -2382.908134296843, + 56.092440829795706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -269.23963760094824, + -2385.908134296843, + 56.092440829795706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -269.23963760094824, + -2388.908134296843, + 56.092440829795706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -269.23963760094824, + -2391.908134296843, + 56.092440829795706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -269.23963760094824, + -2394.908134296843, + 56.092440829795706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -269.23963760094824, + -2397.908134296843, + 56.092440829795706 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -268.0, + -2416.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_4-34-35_502070392/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_4-34-35_502070392/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a429a92ec669a3404da02f3c4c01fc29e22bc361 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_4-34-35_502070392/pose.jsonl @@ -0,0 +1,106 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3965.9049410085972, + 1251.2768472378525, + 48.16944925813293 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3964.4049410085972, + 1248.6787710264991, + 48.16944925813293 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3962.9049410085972, + 1246.0806948151458, + 48.16944925813293 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3961.4049410085972, + 1243.4826186037924, + 48.16944925813293 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3959.9049410085972, + 1240.884542392439, + 48.16944925813293 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3958.4049410085972, + 1238.2864661810856, + 48.16944925813293 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3956.9049410085972, + 1235.6883899697323, + 48.16944925813293 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3920.0, + 1184.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_4-35-21_219700272/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_4-35-21_219700272/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..750cbac60ddaddf264808d786f2c944e99f3fd33 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_4-35-21_219700272/pose.jsonl @@ -0,0 +1,405 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2756.864884755203, + 1995.6060847682372, + 58.658894174112774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2753.864884755203, + 1995.6060847682372, + 58.658894174112774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2750.864884755203, + 1995.6060847682372, + 58.658894174112774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2747.864884755203, + 1995.6060847682372, + 58.658894174112774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2744.864884755203, + 1995.6060847682372, + 58.658894174112774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2741.864884755203, + 1995.6060847682372, + 58.658894174112774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2738.864884755203, + 1995.6060847682372, + 58.658894174112774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2735.864884755203, + 1995.6060847682372, + 58.658894174112774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2732.864884755203, + 1995.6060847682372, + 58.658894174112774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2729.864884755203, + 1995.6060847682372, + 58.658894174112774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2726.864884755203, + 1995.6060847682372, + 58.658894174112774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2723.864884755203, + 1995.6060847682372, + 58.658894174112774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2720.864884755203, + 1995.6060847682372, + 58.658894174112774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2717.864884755203, + 1995.6060847682372, + 58.658894174112774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2714.864884755203, + 1995.6060847682372, + 58.658894174112774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2711.864884755203, + 1995.6060847682372, + 58.658894174112774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2708.864884755203, + 1995.6060847682372, + 58.658894174112774 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2708.864884755203, + 1995.6060847682372, + 58.658894174112774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2706.26680854385, + 1997.1060847682372, + 58.658894174112774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2703.668732332497, + 1998.6060847682372, + 58.658894174112774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2701.0706561211437, + 2000.1060847682372, + 58.658894174112774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2698.4725799097905, + 2001.6060847682372, + 58.658894174112774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2695.8745036984374, + 2003.1060847682372, + 58.658894174112774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2693.276427487084, + 2004.6060847682372, + 58.658894174112774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2690.678351275731, + 2006.1060847682372, + 58.658894174112774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2688.080275064378, + 2007.6060847682372, + 58.658894174112774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2685.482198853025, + 2009.1060847682372, + 58.658894174112774 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2685.482198853025, + 2009.1060847682372, + 58.658894174112774 + ], + "type": "go straight", + "value": 3, + "yaw": 2.842170943040401e-14 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2682.482198853025, + 2009.1060847682372, + 58.658894174112774 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2679.482198853025, + 2009.1060847682372, + 58.658894174112774 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2664.0, + 2012.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_4-36-59_2087796504/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_4-36-59_2087796504/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b6c0f96bebd0006e4239b0d695987be00b5219fa --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_4-36-59_2087796504/pose.jsonl @@ -0,0 +1,184 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4606.283185458541, + 1522.8886645056273, + 67.78388846248787 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4604.783185458541, + 1525.4867407169806, + 67.78388846248787 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4603.283185458541, + 1528.084816928334, + 67.78388846248787 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4601.783185458541, + 1530.6828931396874, + 67.78388846248787 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4600.283185458541, + 1533.2809693510408, + 67.78388846248787 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4598.783185458541, + 1535.8790455623941, + 67.78388846248787 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4597.283185458541, + 1538.4771217737475, + 67.78388846248787 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4597.283185458541, + 1538.4771217737475, + 67.78388846248787 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4597.283185458541, + 1541.4771217737475, + 67.78388846248787 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4597.283185458541, + 1544.4771217737475, + 67.78388846248787 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4597.283185458541, + 1547.4771217737475, + 67.78388846248787 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4597.283185458541, + 1550.4771217737475, + 67.78388846248787 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4597.283185458541, + 1553.4771217737475, + 67.78388846248787 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4576.0, + 1612.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_4-37-34_948761568/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_4-37-34_948761568/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7532d33b7c3d8875e39cec9b8a1bb9c74edcfda2 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_4-37-34_948761568/pose.jsonl @@ -0,0 +1,54 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1326.5896623434555, + 1163.2913235771643, + 65.57115030704341 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1326.5896623434555, + 1160.2913235771643, + 65.57115030704341 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1326.5896623434555, + 1157.2913235771643, + 65.57115030704341 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1312.0, + 1080.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_4-37-9_1036772582/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_4-37-9_1036772582/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d1bf63495d6717e5deb2db83b87e16477a357d9c --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_4-37-9_1036772582/pose.jsonl @@ -0,0 +1,119 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4375.970055502325, + 2250.781391741293, + 42.496167758620224 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4378.970055502325, + 2250.781391741293, + 42.496167758620224 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4381.970055502325, + 2250.781391741293, + 42.496167758620224 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4384.970055502325, + 2250.781391741293, + 42.496167758620224 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4387.970055502325, + 2250.781391741293, + 42.496167758620224 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4390.970055502325, + 2250.781391741293, + 42.496167758620224 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4393.970055502325, + 2250.781391741293, + 42.496167758620224 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4396.970055502325, + 2250.781391741293, + 42.496167758620224 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4460.0, + 2252.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_4-4-34_914560116/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_4-4-34_914560116/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3cd50c4376e98025fec75ccf5e4f88788ba65c43 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_4-4-34_914560116/pose.jsonl @@ -0,0 +1,236 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 72.55512795839445, + -2040.8361788173654, + 49.33127134339729 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 69.95705174704113, + -2042.3361788173654, + 49.33127134339729 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 67.35897553568782, + -2043.8361788173654, + 49.33127134339729 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 64.7608993243345, + -2045.3361788173654, + 49.33127134339729 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 62.16282311298119, + -2046.8361788173654, + 49.33127134339729 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 59.56474690162787, + -2048.336178817365, + 49.33127134339729 + ], + "type": "go straight", + "value": 3, + "yaw": -2.61799387799156 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 56.966670690274555, + -2049.836178817365, + 49.33127134339729 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 54.36859447892124, + -2051.336178817365, + 49.33127134339729 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 51.77051826756792, + -2052.836178817365, + 49.33127134339729 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 49.17244205621461, + -2054.336178817365, + 49.33127134339729 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 46.57436584486129, + -2055.836178817365, + 49.33127134339729 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 43.976289633507974, + -2057.336178817365, + 49.33127134339729 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 41.37821342215466, + -2058.836178817365, + 49.33127134339729 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 38.78013721080134, + -2060.336178817365, + 49.33127134339729 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 36.182060999448026, + -2061.836178817365, + 49.33127134339729 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 33.58398478809471, + -2063.336178817365, + 49.33127134339729 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 30.985908576741394, + -2064.836178817365, + 49.33127134339729 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4.0, + -2080.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_4-40-46_1963816134/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_4-40-46_1963816134/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bc3d7f52f8067b3603663d265802e4966de48276 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_4-40-46_1963816134/pose.jsonl @@ -0,0 +1,197 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3312.7704990925736, + 748.4393554982141, + 43.3088995973707 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3315.7704990925736, + 748.4393554982141, + 43.3088995973707 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3318.7704990925736, + 748.4393554982141, + 43.3088995973707 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3321.7704990925736, + 748.4393554982141, + 43.3088995973707 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3324.7704990925736, + 748.4393554982141, + 43.3088995973707 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3324.7704990925736, + 748.4393554982141, + 43.3088995973707 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3324.7704990925736, + 748.4393554982141, + 43.3088995973707 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3326.2704990925736, + 751.0374317095675, + 43.3088995973707 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 3327.7704990925736, + 753.6355079209209, + 43.3088995973707 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 3329.2704990925736, + 756.2335841322742, + 43.3088995973707 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 3330.7704990925736, + 758.8316603436276, + 43.3088995973707 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 3332.2704990925736, + 761.429736554981, + 43.3088995973707 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 3333.7704990925736, + 764.0278127663344, + 43.3088995973707 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 3335.2704990925736, + 766.6258889776877, + 43.3088995973707 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3384.0, + 808.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_4-41-52_688347869/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_4-41-52_688347869/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7a96ee7402f6ea2b5de0f6d190bccacf7c55914b --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_4-41-52_688347869/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 389.0173928567802, + 1587.1767572474432, + 46.985799255750294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 387.5173928567802, + 1584.5786810360898, + 46.985799255750294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 386.0173928567802, + 1581.9806048247365, + 46.985799255750294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 384.5173928567802, + 1579.382528613383, + 46.985799255750294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 383.0173928567802, + 1576.7844524020297, + 46.985799255750294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 381.5173928567802, + 1574.1863761906764, + 46.985799255750294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 380.0173928567802, + 1571.588299979323, + 46.985799255750294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 378.5173928567802, + 1568.9902237679696, + 46.985799255750294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 377.0173928567802, + 1566.3921475566162, + 46.985799255750294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 375.5173928567802, + 1563.7940713452629, + 46.985799255750294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 374.0173928567802, + 1561.1959951339095, + 46.985799255750294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 372.5173928567802, + 1558.5979189225561, + 46.985799255750294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 371.0173928567802, + 1555.9998427112027, + 46.985799255750294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 369.5173928567802, + 1553.4017664998494, + 46.985799255750294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 368.0173928567802, + 1550.803690288496, + 46.985799255750294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 366.5173928567802, + 1548.2056140771426, + 46.985799255750294 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 366.5173928567802, + 1548.2056140771426, + 46.985799255750294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 363.9193166454269, + 1546.7056140771426, + 46.985799255750294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 361.32124043407356, + 1545.2056140771426, + 46.985799255750294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 358.72316422272024, + 1543.7056140771426, + 46.985799255750294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 356.1250880113669, + 1542.2056140771426, + 46.985799255750294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 353.5270118000136, + 1540.7056140771426, + 46.985799255750294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 350.9289355886603, + 1539.2056140771426, + 46.985799255750294 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 340.0, + 1528.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_4-44-27_1923744725/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_4-44-27_1923744725/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..08212ce82001725e9a931c8e1865c1c7b0d82175 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_4-44-27_1923744725/pose.jsonl @@ -0,0 +1,184 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -842.8264333782316, + -1672.903519155236, + 57.05143530156647 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -841.3264333782316, + -1670.3054429438826, + 57.05143530156647 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -839.8264333782316, + -1667.7073667325292, + 57.05143530156647 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -838.3264333782316, + -1665.1092905211758, + 57.05143530156647 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -836.8264333782316, + -1662.5112143098224, + 57.05143530156647 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -835.3264333782316, + -1659.913138098469, + 57.05143530156647 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -833.8264333782316, + -1657.3150618871157, + 57.05143530156647 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -832.3264333782316, + -1654.7169856757623, + 57.05143530156647 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -830.8264333782316, + -1652.118909464409, + 57.05143530156647 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -829.3264333782316, + -1649.5208332530556, + 57.05143530156647 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -827.8264333782316, + -1646.9227570417022, + 57.05143530156647 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -826.3264333782316, + -1644.3246808303488, + 57.05143530156647 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -824.8264333782316, + -1641.7266046189955, + 57.05143530156647 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -808.0, + -1608.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_4-49-12_1499893403/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_4-49-12_1499893403/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cd4934279bcc2d22fb4e89e2cf9a14a5cde83bed --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_4-49-12_1499893403/pose.jsonl @@ -0,0 +1,340 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2629.816068179968, + -524.3733908026193, + 59.707980036442684 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2627.217991968615, + -525.8733908026193, + 59.707980036442684 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2624.619915757262, + -527.3733908026193, + 59.707980036442684 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2622.0218395459087, + -528.8733908026193, + 59.707980036442684 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2619.4237633345556, + -530.3733908026193, + 59.707980036442684 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2616.8256871232024, + -531.8733908026193, + 59.707980036442684 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2614.2276109118493, + -533.3733908026193, + 59.707980036442684 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2611.629534700496, + -534.8733908026193, + 59.707980036442684 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2609.031458489143, + -536.3733908026193, + 59.707980036442684 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 2606.43338227779, + -537.8733908026193, + 59.707980036442684 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2603.8353060664367, + -539.3733908026193, + 59.707980036442684 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2601.2372298550836, + -540.8733908026193, + 59.707980036442684 + ], + "type": "turn left", + "value": 30, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 2601.2372298550836, + -540.8733908026193, + 59.707980036442684 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931673 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 2599.7372298550836, + -543.4714670139726, + 59.707980036442684 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 2598.2372298550836, + -546.069543225326, + 59.707980036442684 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 2596.7372298550836, + -548.6676194366794, + 59.707980036442684 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 2595.2372298550836, + -551.2656956480328, + 59.707980036442684 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 2593.7372298550836, + -553.8637718593861, + 59.707980036442684 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 2592.2372298550836, + -556.4618480707395, + 59.707980036442684 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 2590.7372298550836, + -559.0599242820929, + 59.707980036442684 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 2589.2372298550836, + -561.6580004934463, + 59.707980036442684 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 2587.7372298550836, + -564.2560767047996, + 59.707980036442684 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 2587.7372298550836, + -564.2560767047996, + 59.707980036442684 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 2585.1391536437304, + -565.7560767047996, + 59.707980036442684 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 2582.5410774323773, + -567.2560767047996, + 59.707980036442684 + ], + "type": "stop", + "value": 0, + "yaw": -2.617993877991466 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2568.0, + -580.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_4-5-25_388146290/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_4-5-25_388146290/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..25ff99758e0c2529e47a4429b43d4feb13eedc2a --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_4-5-25_388146290/pose.jsonl @@ -0,0 +1,223 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1430.4568732209245, + -301.96170045035666, + 42.51120803799201 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1427.4568732209245, + -301.96170045035666, + 42.51120803799201 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1424.4568732209245, + -301.96170045035666, + 42.51120803799201 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1421.4568732209245, + -301.96170045035666, + 42.51120803799201 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1418.4568732209245, + -301.96170045035666, + 42.51120803799201 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1415.4568732209245, + -301.96170045035666, + 42.51120803799201 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1412.4568732209245, + -301.96170045035666, + 42.51120803799201 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1409.4568732209245, + -301.96170045035666, + 42.51120803799201 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1406.4568732209245, + -301.96170045035666, + 42.51120803799201 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1403.4568732209245, + -301.96170045035666, + 42.51120803799201 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1400.4568732209245, + -301.96170045035666, + 42.51120803799201 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1397.4568732209245, + -301.96170045035666, + 42.51120803799201 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1394.4568732209245, + -301.96170045035666, + 42.51120803799201 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1391.4568732209245, + -301.96170045035666, + 42.51120803799201 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1388.4568732209245, + -301.96170045035666, + 42.51120803799201 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1385.4568732209245, + -301.96170045035666, + 42.51120803799201 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1352.0, + -304.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_4-55-27_2076910258/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_4-55-27_2076910258/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f39cb20fbea38e6f9665895f4766fcd5f7f2fd6c --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_4-55-27_2076910258/pose.jsonl @@ -0,0 +1,158 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 87.50262959537164, + 368.63240128892306, + 47.01942661463388 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 84.90455338401833, + 370.13240128892306, + 47.01942661463388 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 82.30647717266501, + 371.63240128892306, + 47.01942661463388 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 79.7084009613117, + 373.13240128892306, + 47.01942661463388 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 77.11032474995838, + 374.63240128892306, + 47.01942661463388 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 74.51224853860506, + 376.13240128892306, + 47.01942661463388 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 71.91417232725175, + 377.63240128892306, + 47.01942661463388 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 71.91417232725175, + 377.63240128892306, + 47.01942661463388 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 70.41417232725175, + 380.2304775002764, + 47.01942661463388 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 68.91417232725175, + 382.8285537116297, + 47.01942661463388 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 67.41417232725175, + 385.426629922983, + 47.01942661463388 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 36.0, + 408.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_4-57-15_1647190800/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_4-57-15_1647190800/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..729dbb9985eac24364d12e8d0c36065df58d7dad --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_4-57-15_1647190800/pose.jsonl @@ -0,0 +1,340 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2370.08528522511, + -2767.8081805228726, + 60.947880173819215 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2371.58528522511, + -2770.4062567342257, + 60.947880173819215 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2373.08528522511, + -2773.004332945579, + 60.947880173819215 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2374.58528522511, + -2775.602409156932, + 60.947880173819215 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2376.08528522511, + -2778.200485368285, + 60.947880173819215 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2377.58528522511, + -2780.7985615796383, + 60.947880173819215 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2379.08528522511, + -2783.3966377909915, + 60.947880173819215 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2380.58528522511, + -2785.9947140023446, + 60.947880173819215 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2382.08528522511, + -2788.5927902136978, + 60.947880173819215 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 2383.58528522511, + -2791.190866425051, + 60.947880173819215 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2385.08528522511, + -2793.788942636404, + 60.947880173819215 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2386.58528522511, + -2796.387018847757, + 60.947880173819215 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 2388.08528522511, + -2798.9850950591103, + 60.947880173819215 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 2389.58528522511, + -2801.5831712704635, + 60.947880173819215 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 2391.08528522511, + -2804.1812474818166, + 60.947880173819215 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 2392.58528522511, + -2806.7793236931698, + 60.947880173819215 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 2394.08528522511, + -2809.377399904523, + 60.947880173819215 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 2395.58528522511, + -2811.975476115876, + 60.947880173819215 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 2397.08528522511, + -2814.573552327229, + 60.947880173819215 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 2398.58528522511, + -2817.1716285385824, + 60.947880173819215 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 2400.08528522511, + -2819.7697047499355, + 60.947880173819215 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 2400.08528522511, + -2819.7697047499355, + 60.947880173819215 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982706 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 2402.683361436463, + -2821.2697047499355, + 60.947880173819215 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 2405.2814376478163, + -2822.7697047499355, + 60.947880173819215 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 2407.8795138591695, + -2824.2697047499355, + 60.947880173819215 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755983272 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2424.0, + -2844.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_4-58-24_298191412/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_4-58-24_298191412/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9f51d56da9a60f114f0e7ce179d52eb62212aeeb --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_4-58-24_298191412/pose.jsonl @@ -0,0 +1,249 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3293.023646022292, + 2446.759275994529, + 62.02129482625331 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3294.523646022292, + 2449.3573522058823, + 62.02129482625331 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3296.023646022292, + 2451.9554284172355, + 62.02129482625331 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3297.523646022292, + 2454.5535046285886, + 62.02129482625331 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3299.023646022292, + 2457.1515808399417, + 62.02129482625331 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3300.523646022292, + 2459.749657051295, + 62.02129482625331 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3302.023646022292, + 2462.347733262648, + 62.02129482625331 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3303.523646022292, + 2464.945809474001, + 62.02129482625331 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 3305.023646022292, + 2467.5438856853543, + 62.02129482625331 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 3306.523646022292, + 2470.1419618967075, + 62.02129482625331 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 3308.023646022292, + 2472.7400381080606, + 62.02129482625331 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 3309.523646022292, + 2475.3381143194138, + 62.02129482625331 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 3311.023646022292, + 2477.936190530767, + 62.02129482625331 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 3312.523646022292, + 2480.53426674212, + 62.02129482625331 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 3314.023646022292, + 2483.132342953473, + 62.02129482625331 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 3314.023646022292, + 2483.132342953473, + 62.02129482625331 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982706 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 3316.621722233645, + 2484.632342953473, + 62.02129482625331 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 3319.219798444998, + 2486.132342953473, + 62.02129482625331 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755983272 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3332.0, + 2504.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_4-7-3_1737386300/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_4-7-3_1737386300/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0f29d1e55f400874b6b3f327846d68be7189deec --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_4-7-3_1737386300/pose.jsonl @@ -0,0 +1,301 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2811.981385688861, + -2270.8459551009028, + 44.38371879422071 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2813.481385688861, + -2273.444031312256, + 44.38371879422071 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2814.981385688861, + -2276.042107523609, + 44.38371879422071 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2816.481385688861, + -2278.640183734962, + 44.38371879422071 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2817.981385688861, + -2281.2382599463153, + 44.38371879422071 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2819.481385688861, + -2283.8363361576685, + 44.38371879422071 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2820.981385688861, + -2286.4344123690216, + 44.38371879422071 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2822.481385688861, + -2289.032488580375, + 44.38371879422071 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2823.981385688861, + -2291.630564791728, + 44.38371879422071 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2825.481385688861, + -2294.228641003081, + 44.38371879422071 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2826.981385688861, + -2296.826717214434, + 44.38371879422071 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2828.481385688861, + -2299.4247934257874, + 44.38371879422071 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2829.981385688861, + -2302.0228696371405, + 44.38371879422071 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2831.481385688861, + -2304.6209458484936, + 44.38371879422071 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2831.481385688861, + -2304.6209458484936, + 44.38371879422071 + ], + "type": "go straight", + "value": 3, + "yaw": -1.570796326794925 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2831.481385688861, + -2307.6209458484936, + 44.38371879422071 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2831.481385688861, + -2310.6209458484936, + 44.38371879422071 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2831.481385688861, + -2313.6209458484936, + 44.38371879422071 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2831.481385688861, + -2316.6209458484936, + 44.38371879422071 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2831.481385688861, + -2319.6209458484936, + 44.38371879422071 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2831.481385688861, + -2322.6209458484936, + 44.38371879422071 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2831.481385688861, + -2325.6209458484936, + 44.38371879422071 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2836.0, + -2336.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_4-7-44_1375189497/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_4-7-44_1375189497/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a97ac12fd6e906f52cb4a60887df522922749268 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_4-7-44_1375189497/pose.jsonl @@ -0,0 +1,223 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4940.580730237215, + 1034.1929172106838, + 44.48558075334324 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4940.580730237215, + 1037.1929172106838, + 44.48558075334324 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4940.580730237215, + 1040.1929172106838, + 44.48558075334324 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4940.580730237215, + 1043.1929172106838, + 44.48558075334324 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4940.580730237215, + 1046.1929172106838, + 44.48558075334324 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4940.580730237215, + 1049.1929172106838, + 44.48558075334324 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4940.580730237215, + 1052.1929172106838, + 44.48558075334324 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4940.580730237215, + 1055.1929172106838, + 44.48558075334324 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4940.580730237215, + 1058.1929172106838, + 44.48558075334324 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4940.580730237215, + 1061.1929172106838, + 44.48558075334324 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4940.580730237215, + 1064.1929172106838, + 44.48558075334324 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4940.580730237215, + 1064.1929172106838, + 44.48558075334324 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4940.580730237215, + 1064.1929172106838, + 44.48558075334324 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4937.982654025862, + 1065.6929172106838, + 44.48558075334324 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4935.384577814509, + 1067.1929172106838, + 44.48558075334324 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4932.786501603156, + 1068.6929172106838, + 44.48558075334324 + ], + "type": "stop", + "value": 0, + "yaw": 2.617993877991466 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4924.0, + 1100.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_4-8-18_289924554/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_4-8-18_289924554/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..054426e342d9427a95af93acf1af3d74b857c833 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_4-8-18_289924554/pose.jsonl @@ -0,0 +1,340 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1743.3925235188324, + 1172.41188512962, + 62.303248678956265 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1741.8925235188324, + 1175.0099613409734, + 62.303248678956265 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1740.3925235188324, + 1177.6080375523268, + 62.303248678956265 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1738.8925235188324, + 1180.2061137636802, + 62.303248678956265 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1737.3925235188324, + 1182.8041899750335, + 62.303248678956265 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1735.8925235188324, + 1185.402266186387, + 62.303248678956265 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1734.3925235188324, + 1188.0003423977403, + 62.303248678956265 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1732.8925235188324, + 1190.5984186090936, + 62.303248678956265 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1731.3925235188324, + 1193.196494820447, + 62.303248678956265 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1729.8925235188324, + 1195.7945710318004, + 62.303248678956265 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1728.3925235188324, + 1198.3926472431538, + 62.303248678956265 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1726.8925235188324, + 1200.9907234545071, + 62.303248678956265 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1725.3925235188324, + 1203.5887996658605, + 62.303248678956265 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1723.8925235188324, + 1206.1868758772139, + 62.303248678956265 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1722.3925235188324, + 1208.7849520885673, + 62.303248678956265 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1720.8925235188324, + 1211.3830282999206, + 62.303248678956265 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1719.3925235188324, + 1213.981104511274, + 62.303248678956265 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1717.8925235188324, + 1216.5791807226274, + 62.303248678956265 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1716.3925235188324, + 1219.1772569339807, + 62.303248678956265 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1714.8925235188324, + 1221.7753331453341, + 62.303248678956265 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1714.8925235188324, + 1221.7753331453341, + 62.303248678956265 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1714.8925235188324, + 1224.7753331453341, + 62.303248678956265 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1714.8925235188324, + 1227.7753331453341, + 62.303248678956265 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1714.8925235188324, + 1230.7753331453341, + 62.303248678956265 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1714.8925235188324, + 1233.7753331453341, + 62.303248678956265 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1704.0, + 1256.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_5-0-15_232787891/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_5-0-15_232787891/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b90372759d2f8199024d32fa0da532d00a9ef43b --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_5-0-15_232787891/pose.jsonl @@ -0,0 +1,327 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2290.1237860792603, + -159.9280027241175, + 56.38470664047678 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2288.6237860792603, + -162.52607893547082, + 56.38470664047678 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2287.1237860792603, + -165.12415514682414, + 56.38470664047678 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2285.6237860792603, + -167.72223135817745, + 56.38470664047678 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2284.1237860792603, + -170.32030756953077, + 56.38470664047678 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2282.6237860792603, + -172.91838378088408, + 56.38470664047678 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2281.1237860792603, + -175.5164599922374, + 56.38470664047678 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2279.6237860792603, + -178.11453620359072, + 56.38470664047678 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2278.1237860792603, + -180.71261241494403, + 56.38470664047678 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2276.6237860792603, + -183.31068862629735, + 56.38470664047678 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2276.6237860792603, + -183.31068862629735, + 56.38470664047678 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2274.025709867907, + -184.81068862629735, + 56.38470664047678 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2271.427633656554, + -186.31068862629735, + 56.38470664047678 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2268.829557445201, + -187.81068862629735, + 56.38470664047678 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2266.2314812338477, + -189.31068862629735, + 56.38470664047678 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2263.6334050224946, + -190.81068862629735, + 56.38470664047678 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2261.0353288111414, + -192.31068862629735, + 56.38470664047678 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2258.4372525997883, + -193.81068862629735, + 56.38470664047678 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2255.839176388435, + -195.31068862629735, + 56.38470664047678 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2253.241100177082, + -196.81068862629735, + 56.38470664047678 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2250.643023965729, + -198.31068862629735, + 56.38470664047678 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2248.0449477543757, + -199.81068862629735, + 56.38470664047678 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2245.4468715430226, + -201.31068862629735, + 56.38470664047678 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2242.8487953316694, + -202.81068862629735, + 56.38470664047678 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755983272 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2228.0, + -216.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_5-13-6_1043995593/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_5-13-6_1043995593/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e07057a6d4024c2ebbc27918435a3928ee96db73 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_5-13-6_1043995593/pose.jsonl @@ -0,0 +1,340 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 60.528862615697925, + 1216.5447886546362, + 44.25060424945828 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 60.528862615697925, + 1213.5447886546362, + 44.25060424945828 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 60.528862615697925, + 1210.5447886546362, + 44.25060424945828 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 60.528862615697925, + 1207.5447886546362, + 44.25060424945828 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 60.528862615697925, + 1204.5447886546362, + 44.25060424945828 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 60.528862615697925, + 1201.5447886546362, + 44.25060424945828 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 60.528862615697925, + 1198.5447886546362, + 44.25060424945828 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 60.528862615697925, + 1195.5447886546362, + 44.25060424945828 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 60.528862615697925, + 1192.5447886546362, + 44.25060424945828 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 60.528862615697925, + 1189.5447886546362, + 44.25060424945828 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 60.528862615697925, + 1186.5447886546362, + 44.25060424945828 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 60.528862615697925, + 1183.5447886546362, + 44.25060424945828 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 60.528862615697925, + 1180.5447886546362, + 44.25060424945828 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 60.528862615697925, + 1180.5447886546362, + 44.25060424945828 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 62.028862615697925, + 1177.9467124432829, + 44.25060424945828 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 63.528862615697925, + 1175.3486362319295, + 44.25060424945828 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 65.02886261569793, + 1172.7505600205761, + 44.25060424945828 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966052 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 66.52886261569793, + 1170.1524838092228, + 44.25060424945828 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 68.02886261569793, + 1167.5544075978694, + 44.25060424945828 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 69.52886261569793, + 1164.956331386516, + 44.25060424945828 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 69.52886261569793, + 1164.956331386516, + 44.25060424945828 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 69.52886261569793, + 1161.956331386516, + 44.25060424945828 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 69.52886261569793, + 1161.956331386516, + 44.25060424945828 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 69.52886261569793, + 1161.956331386516, + 44.25060424945828 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 72.12693882705125, + 1160.456331386516, + 44.25060424945828 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982989 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 80.0, + 1132.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_5-18-54_881759/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_5-18-54_881759/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cb9d0a195d0d435ec9278a6a07893a1857844e2e --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_5-18-54_881759/pose.jsonl @@ -0,0 +1,236 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1679.618914954437, + 1955.1432568112793, + 42.36221008260693 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1678.118914954437, + 1957.7413330226327, + 42.36221008260693 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1676.618914954437, + 1960.339409233986, + 42.36221008260693 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1675.118914954437, + 1962.9374854453395, + 42.36221008260693 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1673.618914954437, + 1965.5355616566928, + 42.36221008260693 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1672.118914954437, + 1968.1336378680462, + 42.36221008260693 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1670.618914954437, + 1970.7317140793996, + 42.36221008260693 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1669.118914954437, + 1973.329790290753, + 42.36221008260693 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1667.618914954437, + 1975.9278665021063, + 42.36221008260693 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1666.118914954437, + 1978.5259427134597, + 42.36221008260693 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1666.118914954437, + 1978.5259427134597, + 42.36221008260693 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1666.118914954437, + 1981.5259427134597, + 42.36221008260693 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1666.118914954437, + 1984.5259427134597, + 42.36221008260693 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1666.118914954437, + 1987.5259427134597, + 42.36221008260693 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1666.118914954437, + 1990.5259427134597, + 42.36221008260693 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1666.118914954437, + 1993.5259427134597, + 42.36221008260693 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1666.118914954437, + 1996.5259427134597, + 42.36221008260693 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1656.0, + 2036.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_5-19-27_2083782853/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_5-19-27_2083782853/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6a220410abd2504beaa487fd51c7aeaad7e4da92 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_5-19-27_2083782853/pose.jsonl @@ -0,0 +1,197 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4028.225273003302, + 2476.790236750193, + 48.24492560537259 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4030.823349214655, + 2478.290236750193, + 48.24492560537259 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4033.4214254260082, + 2479.790236750193, + 48.24492560537259 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4036.0195016373614, + 2481.290236750193, + 48.24492560537259 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4038.6175778487145, + 2482.790236750193, + 48.24492560537259 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4041.2156540600677, + 2484.290236750193, + 48.24492560537259 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4043.813730271421, + 2485.790236750193, + 48.24492560537259 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4046.411806482774, + 2487.290236750193, + 48.24492560537259 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4049.009882694127, + 2488.790236750193, + 48.24492560537259 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4051.6079589054802, + 2490.290236750193, + 48.24492560537259 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4051.6079589054802, + 2490.290236750193, + 48.24492560537259 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196626 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4053.1079589054802, + 2492.888312961546, + 48.24492560537259 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4054.6079589054802, + 2495.486389172899, + 48.24492560537259 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4056.1079589054802, + 2498.0844653842523, + 48.24492560537259 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965694 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4076.0, + 2516.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_5-19-55_791396296/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_5-19-55_791396296/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d64431911f94a93d684be3bcbd3a9db94abd743d --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_5-19-55_791396296/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2008.3503263308842, + 2222.838089051974, + 66.02819238201165 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2010.9484025422375, + 2221.338089051974, + 66.02819238201165 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2013.546478753591, + 2219.838089051974, + 66.02819238201165 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2016.1445549649443, + 2218.338089051974, + 66.02819238201165 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2018.7426311762977, + 2216.838089051974, + 66.02819238201165 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2021.340707387651, + 2215.338089051974, + 66.02819238201165 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2023.9387835990044, + 2213.838089051974, + 66.02819238201165 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2026.5368598103578, + 2212.338089051974, + 66.02819238201165 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2029.1349360217112, + 2210.838089051974, + 66.02819238201165 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2031.7330122330645, + 2209.338089051974, + 66.02819238201165 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2034.331088444418, + 2207.838089051974, + 66.02819238201165 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2036.9291646557713, + 2206.338089051974, + 66.02819238201165 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2039.5272408671246, + 2204.838089051974, + 66.02819238201165 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2042.125317078478, + 2203.338089051974, + 66.02819238201165 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2044.7233932898314, + 2201.838089051974, + 66.02819238201165 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2047.3214695011848, + 2200.338089051974, + 66.02819238201165 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2049.919545712538, + 2198.838089051974, + 66.02819238201165 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2052.517621923891, + 2197.338089051974, + 66.02819238201165 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2052.517621923891, + 2197.338089051974, + 66.02819238201165 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535897647 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2055.517621923891, + 2197.338089051974, + 66.02819238201165 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2058.517621923891, + 2197.338089051974, + 66.02819238201165 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2061.517621923891, + 2197.338089051974, + 66.02819238201165 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2064.517621923891, + 2197.338089051974, + 66.02819238201165 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2092.0, + 2184.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_5-2-19_625017223/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_5-2-19_625017223/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e10cdcaef4a0105513a1756495516c350acdd54a --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_5-2-19_625017223/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2011.2670208405016, + -102.3613463871125, + 69.61746405780559 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2008.6689446291482, + -103.8613463871125, + 69.61746405780559 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2006.0708684177948, + -105.3613463871125, + 69.61746405780559 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2003.4727922064415, + -106.8613463871125, + 69.61746405780559 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2000.874715995088, + -108.3613463871125, + 69.61746405780559 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1998.2766397837347, + -109.8613463871125, + 69.61746405780559 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1995.6785635723813, + -111.3613463871125, + 69.61746405780559 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1993.080487361028, + -112.8613463871125, + 69.61746405780559 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1990.4824111496746, + -114.3613463871125, + 69.61746405780559 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1987.8843349383212, + -115.8613463871125, + 69.61746405780559 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1985.2862587269678, + -117.3613463871125, + 69.61746405780559 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1982.6881825156145, + -118.8613463871125, + 69.61746405780559 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1980.090106304261, + -120.3613463871125, + 69.61746405780559 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1977.4920300929077, + -121.8613463871125, + 69.61746405780559 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1977.4920300929077, + -121.8613463871125, + 69.61746405780559 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1974.4920300929077, + -121.8613463871125, + 69.61746405780559 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1971.4920300929077, + -121.8613463871125, + 69.61746405780559 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1968.4920300929077, + -121.8613463871125, + 69.61746405780559 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1965.4920300929077, + -121.8613463871125, + 69.61746405780559 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1962.4920300929077, + -121.8613463871125, + 69.61746405780559 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1959.4920300929077, + -121.8613463871125, + 69.61746405780559 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1956.4920300929077, + -121.8613463871125, + 69.61746405780559 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1953.4920300929077, + -121.8613463871125, + 69.61746405780559 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1924.0, + -132.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_5-2-34_1176256958/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_5-2-34_1176256958/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5bcd525c134e6adbdb82ad1dfb44df5da949a6fd --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_5-2-34_1176256958/pose.jsonl @@ -0,0 +1,379 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2025.038235626489, + -2866.6596901432868, + 62.51770898789506 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2028.038235626489, + -2866.6596901432868, + 62.51770898789506 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2031.038235626489, + -2866.6596901432868, + 62.51770898789506 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2034.038235626489, + -2866.6596901432868, + 62.51770898789506 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2037.038235626489, + -2866.6596901432868, + 62.51770898789506 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2040.038235626489, + -2866.6596901432868, + 62.51770898789506 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2043.038235626489, + -2866.6596901432868, + 62.51770898789506 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2046.038235626489, + -2866.6596901432868, + 62.51770898789506 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2049.038235626489, + -2866.6596901432868, + 62.51770898789506 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 2049.038235626489, + -2866.6596901432868, + 62.51770898789506 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2051.636311837842, + -2868.1596901432868, + 62.51770898789506 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2054.2343880491953, + -2869.6596901432868, + 62.51770898789506 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 2056.8324642605485, + -2871.1596901432868, + 62.51770898789506 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 2059.4305404719016, + -2872.6596901432868, + 62.51770898789506 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 2062.0286166832548, + -2874.1596901432868, + 62.51770898789506 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 2064.626692894608, + -2875.6596901432868, + 62.51770898789506 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 2067.224769105961, + -2877.1596901432868, + 62.51770898789506 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 2069.822845317314, + -2878.6596901432868, + 62.51770898789506 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 2072.4209215286673, + -2880.1596901432868, + 62.51770898789506 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 2075.0189977400205, + -2881.6596901432868, + 62.51770898789506 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 2077.6170739513736, + -2883.1596901432868, + 62.51770898789506 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 2080.215150162727, + -2884.6596901432868, + 62.51770898789506 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 2082.81322637408, + -2886.1596901432868, + 62.51770898789506 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 2085.411302585433, + -2887.6596901432868, + 62.51770898789506 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 2088.009378796786, + -2889.1596901432868, + 62.51770898789506 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 2090.6074550081394, + -2890.6596901432868, + 62.51770898789506 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 2093.2055312194925, + -2892.1596901432868, + 62.51770898789506 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 2095.8036074308457, + -2893.6596901432868, + 62.51770898789506 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755983272 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2116.0, + -2900.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_5-2-56_1553113606/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_5-2-56_1553113606/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7733ec52e4bdd93fbbcf4b0e7edd427fc27087b0 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_5-2-56_1553113606/pose.jsonl @@ -0,0 +1,340 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1907.2445741101988, + -1536.0454900878538, + 43.398355025275045 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1904.6464978988454, + -1537.5454900878538, + 43.398355025275045 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1902.048421687492, + -1539.0454900878538, + 43.398355025275045 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1899.4503454761386, + -1540.5454900878538, + 43.398355025275045 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1896.8522692647853, + -1542.0454900878538, + 43.398355025275045 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1894.254193053432, + -1543.5454900878538, + 43.398355025275045 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1891.6561168420785, + -1545.0454900878538, + 43.398355025275045 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1889.0580406307251, + -1546.5454900878538, + 43.398355025275045 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1886.4599644193718, + -1548.0454900878538, + 43.398355025275045 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1883.8618882080184, + -1549.5454900878538, + 43.398355025275045 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1883.8618882080184, + -1549.5454900878538, + 43.398355025275045 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1882.3618882080184, + -1552.1435662992071, + 43.398355025275045 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1880.8618882080184, + -1554.7416425105605, + 43.398355025275045 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1879.3618882080184, + -1557.3397187219139, + 43.398355025275045 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1877.8618882080184, + -1559.9377949332672, + 43.398355025275045 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1876.3618882080184, + -1562.5358711446206, + 43.398355025275045 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1874.8618882080184, + -1565.133947355974, + 43.398355025275045 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1873.3618882080184, + -1567.7320235673274, + 43.398355025275045 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1871.8618882080184, + -1570.3300997786807, + 43.398355025275045 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1870.3618882080184, + -1572.928175990034, + 43.398355025275045 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1868.8618882080184, + -1575.5262522013875, + 43.398355025275045 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1868.8618882080184, + -1575.5262522013875, + 43.398355025275045 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1866.263811996665, + -1577.0262522013875, + 43.398355025275045 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1863.6657357853117, + -1578.5262522013875, + 43.398355025275045 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1861.0676595739583, + -1580.0262522013875, + 43.398355025275045 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1844.0, + -1596.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_5-26-28_193047510/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_5-26-28_193047510/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1c8dc1a99e796d9684e8a59931ca3785337bcd55 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_5-26-28_193047510/pose.jsonl @@ -0,0 +1,275 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2371.6158940888795, + -1948.2485988784001, + 47.91466042041738 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2374.2139703002326, + -1946.7485988784001, + 47.91466042041738 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2376.812046511586, + -1945.2485988784001, + 47.91466042041738 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2379.410122722939, + -1943.7485988784001, + 47.91466042041738 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2382.008198934292, + -1942.2485988784001, + 47.91466042041738 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2384.606275145645, + -1940.7485988784001, + 47.91466042041738 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2387.2043513569984, + -1939.2485988784001, + 47.91466042041738 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2389.8024275683515, + -1937.7485988784001, + 47.91466042041738 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2392.4005037797046, + -1936.2485988784001, + 47.91466042041738 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2394.998579991058, + -1934.7485988784001, + 47.91466042041738 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2397.596656202411, + -1933.2485988784001, + 47.91466042041738 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2400.194732413764, + -1931.7485988784001, + 47.91466042041738 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2402.7928086251172, + -1930.2485988784001, + 47.91466042041738 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2405.3908848364704, + -1928.7485988784001, + 47.91466042041738 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2407.9889610478235, + -1927.2485988784001, + 47.91466042041738 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2410.5870372591767, + -1925.7485988784001, + 47.91466042041738 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2413.18511347053, + -1924.2485988784001, + 47.91466042041738 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2413.18511347053, + -1924.2485988784001, + 47.91466042041738 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535897647 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2416.18511347053, + -1924.2485988784001, + 47.91466042041738 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2419.18511347053, + -1924.2485988784001, + 47.91466042041738 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2444.0, + -1912.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_5-28-52_1514346896/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_5-28-52_1514346896/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..984463173cb2c3b81d8a0196abb00fd893eb31c3 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_5-28-52_1514346896/pose.jsonl @@ -0,0 +1,275 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 393.74238766898657, + -1865.775602626418, + 49.347817360679315 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 395.24238766898657, + -1863.1775264150647, + 49.347817360679315 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 396.74238766898657, + -1860.5794502037113, + 49.347817360679315 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 398.24238766898657, + -1857.981373992358, + 49.347817360679315 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 399.74238766898657, + -1855.3832977810046, + 49.347817360679315 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 401.24238766898657, + -1852.7852215696512, + 49.347817360679315 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 402.74238766898657, + -1850.1871453582978, + 49.347817360679315 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 404.24238766898657, + -1847.5890691469444, + 49.347817360679315 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 405.74238766898657, + -1844.990992935591, + 49.347817360679315 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 407.24238766898657, + -1842.3929167242377, + 49.347817360679315 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 408.74238766898657, + -1839.7948405128843, + 49.347817360679315 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 410.24238766898657, + -1837.196764301531, + 49.347817360679315 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 411.74238766898657, + -1834.5986880901776, + 49.347817360679315 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 413.24238766898657, + -1832.0006118788242, + 49.347817360679315 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 414.74238766898657, + -1829.4025356674708, + 49.347817360679315 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 414.74238766898657, + -1829.4025356674708, + 49.347817360679315 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 414.74238766898657, + -1826.4025356674708, + 49.347817360679315 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 414.74238766898657, + -1823.4025356674708, + 49.347817360679315 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 414.74238766898657, + -1820.4025356674708, + 49.347817360679315 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 414.74238766898657, + -1817.4025356674708, + 49.347817360679315 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 424.0, + -1792.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_5-29-51_1669817857/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_5-29-51_1669817857/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4ae75a826202613ff8211ec024bdb265618cb203 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_5-29-51_1669817857/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1340.4830776711635, + 1156.3556426327293, + 48.583565451660036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1343.4830776711635, + 1156.3556426327293, + 48.583565451660036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1346.4830776711635, + 1156.3556426327293, + 48.583565451660036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1349.4830776711635, + 1156.3556426327293, + 48.583565451660036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1352.4830776711635, + 1156.3556426327293, + 48.583565451660036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1355.4830776711635, + 1156.3556426327293, + 48.583565451660036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1358.4830776711635, + 1156.3556426327293, + 48.583565451660036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1361.4830776711635, + 1156.3556426327293, + 48.583565451660036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1364.4830776711635, + 1156.3556426327293, + 48.583565451660036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1367.4830776711635, + 1156.3556426327293, + 48.583565451660036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1370.4830776711635, + 1156.3556426327293, + 48.583565451660036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1373.4830776711635, + 1156.3556426327293, + 48.583565451660036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1376.4830776711635, + 1156.3556426327293, + 48.583565451660036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1379.4830776711635, + 1156.3556426327293, + 48.583565451660036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1382.4830776711635, + 1156.3556426327293, + 48.583565451660036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1385.4830776711635, + 1156.3556426327293, + 48.583565451660036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1388.4830776711635, + 1156.3556426327293, + 48.583565451660036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1391.4830776711635, + 1156.3556426327293, + 48.583565451660036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1394.4830776711635, + 1156.3556426327293, + 48.583565451660036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1397.4830776711635, + 1156.3556426327293, + 48.583565451660036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1400.4830776711635, + 1156.3556426327293, + 48.583565451660036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1403.4830776711635, + 1156.3556426327293, + 48.583565451660036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1406.4830776711635, + 1156.3556426327293, + 48.583565451660036 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1428.0, + 1156.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_5-33-0_474625012/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_5-33-0_474625012/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e414dac16a091fd76500904805708f55ce2b9957 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_5-33-0_474625012/pose.jsonl @@ -0,0 +1,223 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3951.4301750294258, + 1086.1297468906441, + 51.03709319445794 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3952.9301750294258, + 1083.5316706792908, + 51.03709319445794 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3954.4301750294258, + 1080.9335944679374, + 51.03709319445794 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3955.9301750294258, + 1078.335518256584, + 51.03709319445794 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3957.4301750294258, + 1075.7374420452306, + 51.03709319445794 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3958.9301750294258, + 1073.1393658338773, + 51.03709319445794 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3960.4301750294258, + 1070.541289622524, + 51.03709319445794 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3961.9301750294258, + 1067.9432134111705, + 51.03709319445794 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 3963.4301750294258, + 1065.3451371998171, + 51.03709319445794 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 3964.9301750294258, + 1062.7470609884638, + 51.03709319445794 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 3966.4301750294258, + 1060.1489847771104, + 51.03709319445794 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 3967.9301750294258, + 1057.550908565757, + 51.03709319445794 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 3969.4301750294258, + 1054.9528323544037, + 51.03709319445794 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 3970.9301750294258, + 1052.3547561430503, + 51.03709319445794 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 3972.4301750294258, + 1049.756679931697, + 51.03709319445794 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 3973.9301750294258, + 1047.1586037203435, + 51.03709319445794 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3980.0, + 1032.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_5-33-44_1962845746/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_5-33-44_1962845746/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f70a7b0176bd310c8fc1b661badad0315e068f15 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_5-33-44_1962845746/pose.jsonl @@ -0,0 +1,275 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 384.5704159804591, + 1335.0055406509036, + 68.80860087236417 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 381.97233976910576, + 1336.5055406509036, + 68.80860087236417 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 379.37426355775244, + 1338.0055406509036, + 68.80860087236417 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 376.7761873463991, + 1339.5055406509036, + 68.80860087236417 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 374.1781111350458, + 1341.0055406509036, + 68.80860087236417 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 371.5800349236925, + 1342.5055406509036, + 68.80860087236417 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 368.9819587123392, + 1344.0055406509036, + 68.80860087236417 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 366.38388250098586, + 1345.5055406509036, + 68.80860087236417 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 363.78580628963255, + 1347.0055406509036, + 68.80860087236417 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 361.18773007827923, + 1348.5055406509036, + 68.80860087236417 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 358.5896538669259, + 1350.0055406509036, + 68.80860087236417 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 355.9915776555726, + 1351.5055406509036, + 68.80860087236417 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 353.3935014442193, + 1353.0055406509036, + 68.80860087236417 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 350.79542523286597, + 1354.5055406509036, + 68.80860087236417 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 348.19734902151265, + 1356.0055406509036, + 68.80860087236417 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 345.59927281015933, + 1357.5055406509036, + 68.80860087236417 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 343.001196598806, + 1359.0055406509036, + 68.80860087236417 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 340.4031203874527, + 1360.5055406509036, + 68.80860087236417 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 337.8050441760994, + 1362.0055406509036, + 68.80860087236417 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 335.20696796474607, + 1363.5055406509036, + 68.80860087236417 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 312.0, + 1376.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_5-33-58_607165449/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_5-33-58_607165449/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6d654dc439896f22132406a8e0f9a4ccfd2f0365 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_5-33-58_607165449/pose.jsonl @@ -0,0 +1,353 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 714.815400277828, + 211.93650589553482, + 41.869814312693435 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 712.2173240664747, + 210.43650589553482, + 41.869814312693435 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 709.6192478551213, + 208.93650589553482, + 41.869814312693435 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 707.021171643768, + 207.43650589553482, + 41.869814312693435 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 704.4230954324146, + 205.93650589553482, + 41.869814312693435 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 701.8250192210612, + 204.43650589553482, + 41.869814312693435 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 699.2269430097078, + 202.93650589553482, + 41.869814312693435 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 696.6288667983545, + 201.43650589553482, + 41.869814312693435 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 694.0307905870011, + 199.93650589553482, + 41.869814312693435 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 691.4327143756477, + 198.43650589553482, + 41.869814312693435 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 688.8346381642943, + 196.93650589553482, + 41.869814312693435 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 686.236561952941, + 195.43650589553482, + 41.869814312693435 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 683.6384857415876, + 193.93650589553482, + 41.869814312693435 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 681.0404095302342, + 192.43650589553482, + 41.869814312693435 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 678.4423333188809, + 190.93650589553482, + 41.869814312693435 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 678.4423333188809, + 190.93650589553482, + 41.869814312693435 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 675.4423333188809, + 190.93650589553482, + 41.869814312693435 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 672.4423333188809, + 190.93650589553482, + 41.869814312693435 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 669.4423333188809, + 190.93650589553482, + 41.869814312693435 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 666.4423333188809, + 190.93650589553482, + 41.869814312693435 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 663.4423333188809, + 190.93650589553482, + 41.869814312693435 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 660.4423333188809, + 190.93650589553482, + 41.869814312693435 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 657.4423333188809, + 190.93650589553482, + 41.869814312693435 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 654.4423333188809, + 190.93650589553482, + 41.869814312693435 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 651.4423333188809, + 190.93650589553482, + 41.869814312693435 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 648.4423333188809, + 190.93650589553482, + 41.869814312693435 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 620.0, + 184.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_5-34-41_816823884/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_5-34-41_816823884/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..efd8ff624a10ad4cda9f069f29af8963d73fc3f0 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_5-34-41_816823884/pose.jsonl @@ -0,0 +1,418 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2356.0454784453245, + 1305.087345638192, + 59.66625900550518 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2356.0454784453245, + 1302.087345638192, + 59.66625900550518 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2356.0454784453245, + 1299.087345638192, + 59.66625900550518 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2356.0454784453245, + 1296.087345638192, + 59.66625900550518 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2356.0454784453245, + 1293.087345638192, + 59.66625900550518 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2356.0454784453245, + 1290.087345638192, + 59.66625900550518 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2356.0454784453245, + 1287.087345638192, + 59.66625900550518 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2356.0454784453245, + 1284.087345638192, + 59.66625900550518 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2356.0454784453245, + 1281.087345638192, + 59.66625900550518 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 2356.0454784453245, + 1278.087345638192, + 59.66625900550518 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2356.0454784453245, + 1275.087345638192, + 59.66625900550518 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2356.0454784453245, + 1272.087345638192, + 59.66625900550518 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 2356.0454784453245, + 1269.087345638192, + 59.66625900550518 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 2356.0454784453245, + 1266.087345638192, + 59.66625900550518 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 2356.0454784453245, + 1263.087345638192, + 59.66625900550518 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 2356.0454784453245, + 1260.087345638192, + 59.66625900550518 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 2356.0454784453245, + 1257.087345638192, + 59.66625900550518 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 2356.0454784453245, + 1254.087345638192, + 59.66625900550518 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 2356.0454784453245, + 1251.087345638192, + 59.66625900550518 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 2356.0454784453245, + 1248.087345638192, + 59.66625900550518 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 2356.0454784453245, + 1245.087345638192, + 59.66625900550518 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 2356.0454784453245, + 1242.087345638192, + 59.66625900550518 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 2356.0454784453245, + 1239.087345638192, + 59.66625900550518 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 2356.0454784453245, + 1236.087345638192, + 59.66625900550518 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 2356.0454784453245, + 1233.087345638192, + 59.66625900550518 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 2356.0454784453245, + 1230.087345638192, + 59.66625900550518 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 2356.0454784453245, + 1227.087345638192, + 59.66625900550518 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 2356.0454784453245, + 1227.087345638192, + 59.66625900550518 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 2354.5454784453245, + 1224.4892694268385, + 59.66625900550518 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 2353.0454784453245, + 1221.8911932154851, + 59.66625900550518 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 2351.5454784453245, + 1219.2931170041318, + 59.66625900550518 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2348.0, + 1208.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_5-37-16_842566590/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_5-37-16_842566590/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2fdbc20166a02a5cdb42ce0fa450250fa6167c24 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_5-37-16_842566590/pose.jsonl @@ -0,0 +1,262 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4780.410811592546, + -89.12336082158154, + 48.55642921957347 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4780.410811592546, + -86.12336082158154, + 48.55642921957347 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4780.410811592546, + -83.12336082158154, + 48.55642921957347 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4780.410811592546, + -80.12336082158154, + 48.55642921957347 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4780.410811592546, + -77.12336082158154, + 48.55642921957347 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4780.410811592546, + -74.12336082158154, + 48.55642921957347 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4780.410811592546, + -71.12336082158154, + 48.55642921957347 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4780.410811592546, + -68.12336082158154, + 48.55642921957347 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4780.410811592546, + -65.12336082158154, + 48.55642921957347 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4780.410811592546, + -62.12336082158154, + 48.55642921957347 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4780.410811592546, + -59.12336082158154, + 48.55642921957347 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4780.410811592546, + -56.12336082158154, + 48.55642921957347 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4780.410811592546, + -53.12336082158154, + 48.55642921957347 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4780.410811592546, + -50.12336082158154, + 48.55642921957347 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4780.410811592546, + -47.12336082158154, + 48.55642921957347 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4780.410811592546, + -44.12336082158154, + 48.55642921957347 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 4780.410811592546, + -41.12336082158154, + 48.55642921957347 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 4780.410811592546, + -41.12336082158154, + 48.55642921957347 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 4778.910811592546, + -38.525284610228226, + 48.55642921957347 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4776.0, + -12.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_5-4-20_847196228/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_5-4-20_847196228/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..256b9fe905959dcc19c9041233207a2a227df4a4 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_5-4-20_847196228/pose.jsonl @@ -0,0 +1,210 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 278.55903178643763, + -2080.9300667936946, + 68.95874545465703 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 280.05903178643763, + -2083.5281430050477, + 68.95874545465703 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 281.55903178643763, + -2086.126219216401, + 68.95874545465703 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 283.05903178643763, + -2088.724295427754, + 68.95874545465703 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 284.55903178643763, + -2091.322371639107, + 68.95874545465703 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 286.05903178643763, + -2093.9204478504603, + 68.95874545465703 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 287.55903178643763, + -2096.5185240618134, + 68.95874545465703 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 289.05903178643763, + -2099.1166002731666, + 68.95874545465703 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 290.55903178643763, + -2101.7146764845197, + 68.95874545465703 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 292.05903178643763, + -2104.312752695873, + 68.95874545465703 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 293.55903178643763, + -2106.910828907226, + 68.95874545465703 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 295.05903178643763, + -2109.508905118579, + 68.95874545465703 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 295.05903178643763, + -2109.508905118579, + 68.95874545465703 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982706 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 297.65710799779094, + -2111.008905118579, + 68.95874545465703 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 300.25518420914426, + -2112.508905118579, + 68.95874545465703 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 316.0, + -2132.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_5-40-7_472548211/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_5-40-7_472548211/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6c8caf19604e76f047b09dd8f3f49957f529c0ad --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_5-40-7_472548211/pose.jsonl @@ -0,0 +1,301 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2178.49838375643, + -2757.993419314471, + 53.02357634902516 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2179.99838375643, + -2760.591495525824, + 53.02357634902516 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2181.49838375643, + -2763.189571737177, + 53.02357634902516 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2182.99838375643, + -2765.7876479485303, + 53.02357634902516 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2184.49838375643, + -2768.3857241598835, + 53.02357634902516 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2185.99838375643, + -2770.9838003712366, + 53.02357634902516 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2187.49838375643, + -2773.5818765825898, + 53.02357634902516 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2188.99838375643, + -2776.179952793943, + 53.02357634902516 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2190.49838375643, + -2778.778029005296, + 53.02357634902516 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 2191.99838375643, + -2781.376105216649, + 53.02357634902516 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2193.49838375643, + -2783.9741814280023, + 53.02357634902516 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2194.99838375643, + -2786.5722576393555, + 53.02357634902516 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 2196.49838375643, + -2789.1703338507086, + 53.02357634902516 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 2197.99838375643, + -2791.768410062062, + 53.02357634902516 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 2199.49838375643, + -2794.366486273415, + 53.02357634902516 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 2199.49838375643, + -2794.366486273415, + 53.02357634902516 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948681 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 2199.49838375643, + -2797.366486273415, + 53.02357634902516 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 2199.49838375643, + -2800.366486273415, + 53.02357634902516 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 2199.49838375643, + -2803.366486273415, + 53.02357634902516 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 2199.49838375643, + -2806.366486273415, + 53.02357634902516 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 2199.49838375643, + -2809.366486273415, + 53.02357634902516 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 2199.49838375643, + -2812.366486273415, + 53.02357634902516 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2200.0, + -2816.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_5-45-57_178069004/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_5-45-57_178069004/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..70222b770b93df2a7ef2f3dfeec3d2524e9eed89 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_5-45-57_178069004/pose.jsonl @@ -0,0 +1,119 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2439.556990116229, + -2728.3932145964764, + 48.85288558104713 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2436.556990116229, + -2728.3932145964764, + 48.85288558104713 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2433.556990116229, + -2728.3932145964764, + 48.85288558104713 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2433.556990116229, + -2728.3932145964764, + 48.85288558104713 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2430.9589139048758, + -2729.8932145964764, + 48.85288558104713 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2428.3608376935226, + -2731.3932145964764, + 48.85288558104713 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2425.7627614821695, + -2732.8932145964764, + 48.85288558104713 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2423.1646852708163, + -2734.3932145964764, + 48.85288558104713 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755983272 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2380.0, + -2748.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_5-49-28_1778219419/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_5-49-28_1778219419/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0b9a02abc249225702a5a5ea6c61c4a36106ecd0 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_5-49-28_1778219419/pose.jsonl @@ -0,0 +1,275 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3102.920444325027, + 1618.471709680096, + 57.066381034695496 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3101.420444325027, + 1621.0697858914493, + 57.066381034695496 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3099.920444325027, + 1623.6678621028027, + 57.066381034695496 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3098.420444325027, + 1626.265938314156, + 57.066381034695496 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3096.920444325027, + 1628.8640145255094, + 57.066381034695496 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3095.420444325027, + 1631.4620907368628, + 57.066381034695496 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3093.920444325027, + 1634.0601669482162, + 57.066381034695496 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3092.420444325027, + 1636.6582431595696, + 57.066381034695496 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 3090.920444325027, + 1639.256319370923, + 57.066381034695496 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 3089.420444325027, + 1641.8543955822763, + 57.066381034695496 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 3087.920444325027, + 1644.4524717936297, + 57.066381034695496 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 3087.920444325027, + 1644.4524717936297, + 57.066381034695496 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 3087.920444325027, + 1647.4524717936297, + 57.066381034695496 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 3087.920444325027, + 1650.4524717936297, + 57.066381034695496 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 3087.920444325027, + 1653.4524717936297, + 57.066381034695496 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 3087.920444325027, + 1656.4524717936297, + 57.066381034695496 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 3087.920444325027, + 1659.4524717936297, + 57.066381034695496 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 3087.920444325027, + 1662.4524717936297, + 57.066381034695496 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 3087.920444325027, + 1665.4524717936297, + 57.066381034695496 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 3087.920444325027, + 1668.4524717936297, + 57.066381034695496 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3080.0, + 1704.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_5-5-29_607546728/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_5-5-29_607546728/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ddf3bbfc80f018810ca6ddfa872d69a9385cf76c --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_5-5-29_607546728/pose.jsonl @@ -0,0 +1,132 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1723.791192540434, + -189.9987796082514, + 59.22874248198796 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1721.1931163290806, + -191.4987796082514, + 59.22874248198796 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1718.5950401177272, + -192.9987796082514, + 59.22874248198796 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1715.9969639063738, + -194.4987796082514, + 59.22874248198796 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1713.3988876950204, + -195.9987796082514, + 59.22874248198796 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1710.800811483667, + -197.4987796082514, + 59.22874248198796 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1708.2027352723137, + -198.9987796082514, + 59.22874248198796 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1708.2027352723137, + -198.9987796082514, + 59.22874248198796 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1706.7027352723137, + -201.5968558196047, + 59.22874248198796 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393205 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1652.0, + -240.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_5-51-36_1910661806/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_5-51-36_1910661806/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..117e11b164222fafb3fbed0bd6578b9315434341 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_5-51-36_1910661806/pose.jsonl @@ -0,0 +1,353 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1952.8627015250863, + 1849.171091658359, + 63.59222609024352 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1950.264625313733, + 1847.671091658359, + 63.59222609024352 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1947.6665491023796, + 1846.171091658359, + 63.59222609024352 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1945.0684728910262, + 1844.671091658359, + 63.59222609024352 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1942.4703966796728, + 1843.171091658359, + 63.59222609024352 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1939.8723204683195, + 1841.671091658359, + 63.59222609024352 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1937.274244256966, + 1840.171091658359, + 63.59222609024352 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1934.6761680456127, + 1838.671091658359, + 63.59222609024352 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1932.0780918342593, + 1837.171091658359, + 63.59222609024352 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1929.480015622906, + 1835.671091658359, + 63.59222609024352 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1926.8819394115526, + 1834.171091658359, + 63.59222609024352 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1924.2838632001992, + 1832.671091658359, + 63.59222609024352 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1921.6857869888458, + 1831.171091658359, + 63.59222609024352 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1919.0877107774925, + 1829.671091658359, + 63.59222609024352 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1916.489634566139, + 1828.171091658359, + 63.59222609024352 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1913.8915583547857, + 1826.671091658359, + 63.59222609024352 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1911.2934821434324, + 1825.171091658359, + 63.59222609024352 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1908.695405932079, + 1823.671091658359, + 63.59222609024352 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1906.0973297207256, + 1822.171091658359, + 63.59222609024352 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1903.4992535093722, + 1820.671091658359, + 63.59222609024352 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1900.9011772980189, + 1819.171091658359, + 63.59222609024352 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1898.3031010866655, + 1817.671091658359, + 63.59222609024352 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1898.3031010866655, + 1817.671091658359, + 63.59222609024352 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1896.8031010866655, + 1815.0730154470057, + 63.59222609024352 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1895.3031010866655, + 1812.4749392356523, + 63.59222609024352 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1893.8031010866655, + 1809.876863024299, + 63.59222609024352 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1872.0, + 1796.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_5-57-28_140210619/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_5-57-28_140210619/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4372284fd7ada894f3755ea511e5a6cb6cd15ce6 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_5-57-28_140210619/pose.jsonl @@ -0,0 +1,262 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4197.928692342446, + 903.435759244952, + 49.2579538583304 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4196.428692342446, + 906.0338354563053, + 49.2579538583304 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4194.928692342446, + 908.6319116676586, + 49.2579538583304 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4193.428692342446, + 911.229987879012, + 49.2579538583304 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4191.928692342446, + 913.8280640903654, + 49.2579538583304 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4190.428692342446, + 916.4261403017188, + 49.2579538583304 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4188.928692342446, + 919.0242165130721, + 49.2579538583304 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4187.428692342446, + 921.6222927244255, + 49.2579538583304 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4185.928692342446, + 924.2203689357789, + 49.2579538583304 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4184.428692342446, + 926.8184451471323, + 49.2579538583304 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4182.928692342446, + 929.4165213584856, + 49.2579538583304 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4181.428692342446, + 932.014597569839, + 49.2579538583304 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4179.928692342446, + 934.6126737811924, + 49.2579538583304 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4178.428692342446, + 937.2107499925457, + 49.2579538583304 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4176.928692342446, + 939.8088262038991, + 49.2579538583304 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4175.428692342446, + 942.4069024152525, + 49.2579538583304 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 4175.428692342446, + 942.4069024152525, + 49.2579538583304 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 4175.428692342446, + 945.4069024152525, + 49.2579538583304 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 4175.428692342446, + 948.4069024152525, + 49.2579538583304 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4156.0, + 992.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_5-58-19_597957687/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_5-58-19_597957687/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c55a1d7744c4ebc194187abeeb771ca9e5a7a1e8 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_5-58-19_597957687/pose.jsonl @@ -0,0 +1,67 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4159.38189153788, + 780.5103750918181, + 45.83455283717594 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4159.38189153788, + 783.5103750918181, + 45.83455283717594 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4159.38189153788, + 786.5103750918181, + 45.83455283717594 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4159.38189153788, + 789.5103750918181, + 45.83455283717594 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4168.0, + 864.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_5-9-50_1431109849/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_5-9-50_1431109849/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a3503c9a06bc53b17fe2fd79cfd46507c2d5d4d1 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_5-9-50_1431109849/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1083.909622993555, + 1185.9498038414533, + 45.13926290695803 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1086.909622993555, + 1185.9498038414533, + 45.13926290695803 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1089.909622993555, + 1185.9498038414533, + 45.13926290695803 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1092.909622993555, + 1185.9498038414533, + 45.13926290695803 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1095.909622993555, + 1185.9498038414533, + 45.13926290695803 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1098.909622993555, + 1185.9498038414533, + 45.13926290695803 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1101.909622993555, + 1185.9498038414533, + 45.13926290695803 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1104.909622993555, + 1185.9498038414533, + 45.13926290695803 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1107.909622993555, + 1185.9498038414533, + 45.13926290695803 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1110.909622993555, + 1185.9498038414533, + 45.13926290695803 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1110.909622993555, + 1185.9498038414533, + 45.13926290695803 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1110.909622993555, + 1185.9498038414533, + 45.13926290695803 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1112.409622993555, + 1183.3517276301, + 45.13926290695803 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1113.909622993555, + 1180.7536514187466, + 45.13926290695803 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1115.409622993555, + 1178.1555752073932, + 45.13926290695803 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1115.409622993555, + 1178.1555752073932, + 45.13926290695803 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1118.0076992049085, + 1176.6555752073932, + 45.13926290695803 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1120.6057754162618, + 1175.1555752073932, + 45.13926290695803 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1123.2038516276152, + 1173.6555752073932, + 45.13926290695803 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1125.8019278389686, + 1172.1555752073932, + 45.13926290695803 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1128.400004050322, + 1170.6555752073932, + 45.13926290695803 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1128.400004050322, + 1170.6555752073932, + 45.13926290695803 + ], + "type": "go straight", + "value": 3, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1131.400004050322, + 1170.6555752073932, + 45.13926290695803 + ], + "type": "stop", + "value": 0, + "yaw": 9.43689570931383e-15 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1156.0, + 1164.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_6-7-57_1532530123/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_6-7-57_1532530123/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..40a6ee062df72a570921b51b48cfce42a323859b --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_short/2025-1-7_6-7-57_1532530123/pose.jsonl @@ -0,0 +1,288 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -23.37924602932324, + 1333.4030696419186, + 56.8698709162838 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -20.37924602932324, + 1333.4030696419186, + 56.8698709162838 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -17.37924602932324, + 1333.4030696419186, + 56.8698709162838 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -14.379246029323241, + 1333.4030696419186, + 56.8698709162838 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -11.379246029323241, + 1333.4030696419186, + 56.8698709162838 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -8.379246029323241, + 1333.4030696419186, + 56.8698709162838 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -8.379246029323241, + 1333.4030696419186, + 56.8698709162838 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -8.379246029323241, + 1333.4030696419186, + 56.8698709162838 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -6.879246029323241, + 1336.001145853272, + 56.8698709162838 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -5.379246029323241, + 1338.5992220646253, + 56.8698709162838 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -3.8792460293232405, + 1341.1972982759787, + 56.8698709162838 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2.37924602932324, + 1343.795374487332, + 56.8698709162838 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -0.8792460293232396, + 1346.3934506986855, + 56.8698709162838 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -0.8792460293232396, + 1346.3934506986855, + 56.8698709162838 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1.7188301820300764, + 1347.8934506986855, + 56.8698709162838 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4.316906393383393, + 1349.3934506986855, + 56.8698709162838 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 6.914982604736709, + 1350.8934506986855, + 56.8698709162838 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 9.513058816090025, + 1352.3934506986855, + 56.8698709162838 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 12.111135027443341, + 1353.8934506986855, + 56.8698709162838 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 14.709211238796657, + 1355.3934506986855, + 56.8698709162838 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 17.30728745014997, + 1356.8934506986855, + 56.8698709162838 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 48.0, + 1376.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +}