Add files using upload-large-folder tool
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- Image/env_airsim_sh/astar_data/high_short/2025-1-10_17-29-3_507578762/pose.jsonl +171 -0
- Image/env_airsim_sh/astar_data/high_short/2025-1-10_17-30-31_202550399/pose.jsonl +262 -0
- Image/env_airsim_sh/astar_data/high_short/2025-1-10_17-42-14_825726814/pose.jsonl +210 -0
- Image/env_airsim_sh/astar_data/high_short/2025-1-10_17-48-17_2056665155/pose.jsonl +67 -0
- Image/env_airsim_sh/astar_data/high_short/2025-1-10_17-5-10_672139932/pose.jsonl +80 -0
- Image/env_airsim_sh/astar_data/high_short/2025-1-10_17-53-1_1372668364/pose.jsonl +236 -0
- Image/env_airsim_sh/astar_data/high_short/2025-1-10_17-56-26_1953161956/pose.jsonl +249 -0
- Image/env_airsim_sh/astar_data/high_short/2025-1-10_18-16-19_1111800030/pose.jsonl +262 -0
- Image/env_airsim_sh/astar_data/high_short/2025-1-10_18-31-45_217161528/pose.jsonl +106 -0
- Image/env_airsim_sh/astar_data/high_short/2025-1-10_18-47-4_1588695568/pose.jsonl +210 -0
- Image/env_airsim_sh/astar_data/high_short/2025-1-10_18-53-46_832077645/pose.jsonl +327 -0
- Image/env_airsim_sh/astar_data/high_short/2025-1-10_18-54-17_73673339/pose.jsonl +288 -0
- Image/env_airsim_sh/astar_data/high_short/2025-1-10_18-6-28_1139352160/pose.jsonl +275 -0
- Image/env_airsim_sh/astar_data/high_short/2025-1-10_19-24-44_816976784/pose.jsonl +249 -0
- Image/env_airsim_sh/astar_data/high_short/2025-1-10_19-38-57_87522686/pose.jsonl +249 -0
- Image/env_airsim_sh/astar_data/high_short/2025-1-10_19-44-19_1763360602/pose.jsonl +80 -0
- Image/env_airsim_sh/astar_data/high_short/2025-1-10_19-46-58_2113556942/pose.jsonl +249 -0
- Image/env_airsim_sh/astar_data/high_short/2025-1-10_19-48-55_129183332/pose.jsonl +236 -0
- Image/env_airsim_sh/astar_data/high_short/2025-1-10_19-53-8_1010014811/pose.jsonl +145 -0
- Image/env_airsim_sh/astar_data/high_short/2025-1-10_19-55-46_542314107/pose.jsonl +275 -0
- Image/env_airsim_sh/astar_data/high_short/2025-1-10_19-57-12_217852623/pose.jsonl +171 -0
- Image/env_airsim_sh/astar_data/high_short/2025-1-10_20-20-9_162403134/pose.jsonl +340 -0
- Image/env_airsim_sh/astar_data/high_short/2025-1-10_20-21-40_1945891638/pose.jsonl +327 -0
- Image/env_airsim_sh/astar_data/high_short/2025-1-10_20-22-42_1064651899/pose.jsonl +366 -0
- Image/env_airsim_sh/astar_data/high_short/2025-1-10_20-31-2_2026478004/pose.jsonl +54 -0
- Image/env_airsim_sh/astar_data/high_short/2025-1-10_20-36-5_701943705/pose.jsonl +236 -0
- Image/env_airsim_sh/astar_data/high_short/2025-1-10_20-46-43_1215387142/pose.jsonl +314 -0
- Image/env_airsim_sh/astar_data/high_short/2025-1-10_20-47-0_364531492/pose.jsonl +106 -0
- Image/env_airsim_sh/astar_data/high_short/2025-1-10_20-56-0_1767125139/pose.jsonl +236 -0
- Image/env_airsim_sh/astar_data/high_short/2025-1-10_21-10-20_1683213486/pose.jsonl +275 -0
- Image/env_airsim_sh/astar_data/high_short/2025-1-10_21-17-27_1084384795/pose.jsonl +210 -0
- Image/env_airsim_sh/astar_data/high_short/2025-1-10_21-2-3_270617569/pose.jsonl +80 -0
- Image/env_airsim_sh/astar_data/high_short/2025-1-10_21-24-29_1191614946/pose.jsonl +171 -0
- Image/env_airsim_sh/astar_data/high_short/2025-1-10_21-25-27_774404628/pose.jsonl +119 -0
- Image/env_airsim_sh/astar_data/high_short/2025-1-10_21-37-33_1891363558/pose.jsonl +275 -0
- Image/env_airsim_sh/astar_data/high_short/2025-1-10_21-51-11_1517244564/pose.jsonl +197 -0
- Image/env_airsim_sh/astar_data/high_short/2025-1-10_21-55-53_136864840/pose.jsonl +392 -0
- Image/env_airsim_sh/astar_data/high_short/2025-1-10_21-58-47_912078408/pose.jsonl +249 -0
- Image/env_airsim_sh/astar_data/high_short/2025-1-10_22-14-13_854155594/pose.jsonl +379 -0
- Image/env_airsim_sh/astar_data/high_short/2025-1-10_22-17-26_1554430207/pose.jsonl +275 -0
- Image/env_airsim_sh/astar_data/high_short/2025-1-10_22-22-11_1467704485/pose.jsonl +236 -0
- Image/env_airsim_sh/astar_data/high_short/2025-1-10_22-33-56_506959639/pose.jsonl +106 -0
- Image/env_airsim_sh/astar_data/high_short/2025-1-10_22-52-47_1481907231/pose.jsonl +67 -0
- Image/env_airsim_sh/astar_data/high_short/2025-1-10_23-12-17_1861853489/pose.jsonl +119 -0
- Image/env_airsim_sh/astar_data/high_short/2025-1-10_23-14-47_1904279192/pose.jsonl +236 -0
- Image/env_airsim_sh/astar_data/high_short/2025-1-10_23-17-16_2131953877/pose.jsonl +366 -0
- Image/env_airsim_sh/astar_data/high_short/2025-1-10_23-20-28_2123016228/pose.jsonl +158 -0
- Image/env_airsim_sh/astar_data/high_short/2025-1-10_23-23-42_2032363193/pose.jsonl +314 -0
- Image/env_airsim_sh/astar_data/high_short/2025-1-10_23-39-59_2063018202/pose.jsonl +405 -0
- Image/env_airsim_sh/astar_data/high_short/2025-1-10_23-47-59_1255035368/pose.jsonl +236 -0
Image/env_airsim_sh/astar_data/high_short/2025-1-10_17-29-3_507578762/pose.jsonl
ADDED
|
@@ -0,0 +1,171 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
274.6364390815211,
|
| 6 |
+
154.93867243373083,
|
| 7 |
+
177.22623031643226
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 2.6179938779914944
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
272.03836287016776,
|
| 19 |
+
156.43867243373083,
|
| 20 |
+
177.22623031643226
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 2.6179938779914944
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
269.44028665881444,
|
| 32 |
+
157.93867243373083,
|
| 33 |
+
177.22623031643226
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 2.6179938779914944
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
266.8422104474611,
|
| 45 |
+
159.43867243373083,
|
| 46 |
+
177.22623031643226
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 2.6179938779914944
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
264.2441342361078,
|
| 58 |
+
160.93867243373083,
|
| 59 |
+
177.22623031643226
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 2.6179938779914944
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
261.6460580247545,
|
| 71 |
+
162.43867243373083,
|
| 72 |
+
177.22623031643226
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 2.6179938779914944
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
259.0479818134012,
|
| 84 |
+
163.93867243373083,
|
| 85 |
+
177.22623031643226
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 2.6179938779914944
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
256.44990560204786,
|
| 97 |
+
165.43867243373083,
|
| 98 |
+
177.22623031643226
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 2.6179938779914944
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
253.85182939069455,
|
| 110 |
+
166.93867243373083,
|
| 111 |
+
177.22623031643226
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 2.6179938779914944
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
251.25375317934123,
|
| 123 |
+
168.43867243373083,
|
| 124 |
+
177.22623031643226
|
| 125 |
+
],
|
| 126 |
+
"type": "turn right",
|
| 127 |
+
"value": 30,
|
| 128 |
+
"yaw": 2.6179938779914944
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
251.25375317934123,
|
| 136 |
+
168.43867243373083,
|
| 137 |
+
177.22623031643226
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 2.0943951023931957
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
249.75375317934123,
|
| 149 |
+
171.03674864508415,
|
| 150 |
+
177.22623031643226
|
| 151 |
+
],
|
| 152 |
+
"type": "stop",
|
| 153 |
+
"value": 0,
|
| 154 |
+
"yaw": 2.0943951023931957
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"aim_landmark": {
|
| 159 |
+
"color": "test",
|
| 160 |
+
"feature": "test",
|
| 161 |
+
"position": [
|
| 162 |
+
216.0,
|
| 163 |
+
196.0,
|
| 164 |
+
446.603
|
| 165 |
+
],
|
| 166 |
+
"shape": "test",
|
| 167 |
+
"dir": "center",
|
| 168 |
+
"size": "test",
|
| 169 |
+
"type": "building"
|
| 170 |
+
}
|
| 171 |
+
}
|
Image/env_airsim_sh/astar_data/high_short/2025-1-10_17-30-31_202550399/pose.jsonl
ADDED
|
@@ -0,0 +1,262 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
656.6657845110984,
|
| 6 |
+
848.0845294729908,
|
| 7 |
+
177.22623031643226
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 1.5707963267948966
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
656.6657845110984,
|
| 19 |
+
851.0845294729908,
|
| 20 |
+
177.22623031643226
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 1.5707963267948966
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
656.6657845110984,
|
| 32 |
+
854.0845294729908,
|
| 33 |
+
177.22623031643226
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 1.5707963267948966
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
656.6657845110984,
|
| 45 |
+
857.0845294729908,
|
| 46 |
+
177.22623031643226
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 1.5707963267948966
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
656.6657845110984,
|
| 58 |
+
860.0845294729908,
|
| 59 |
+
177.22623031643226
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 1.5707963267948966
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
656.6657845110984,
|
| 71 |
+
863.0845294729908,
|
| 72 |
+
177.22623031643226
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 1.5707963267948966
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
656.6657845110984,
|
| 84 |
+
866.0845294729908,
|
| 85 |
+
177.22623031643226
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 1.5707963267948966
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
656.6657845110984,
|
| 97 |
+
869.0845294729908,
|
| 98 |
+
177.22623031643226
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 1.5707963267948966
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
656.6657845110984,
|
| 110 |
+
872.0845294729908,
|
| 111 |
+
177.22623031643226
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 1.5707963267948966
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
656.6657845110984,
|
| 123 |
+
875.0845294729908,
|
| 124 |
+
177.22623031643226
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 1.5707963267948966
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
656.6657845110984,
|
| 136 |
+
878.0845294729908,
|
| 137 |
+
177.22623031643226
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 1.5707963267948966
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
656.6657845110984,
|
| 149 |
+
881.0845294729908,
|
| 150 |
+
177.22623031643226
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": 1.5707963267948966
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
656.6657845110984,
|
| 162 |
+
884.0845294729908,
|
| 163 |
+
177.22623031643226
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": 1.5707963267948966
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
656.6657845110984,
|
| 175 |
+
887.0845294729908,
|
| 176 |
+
177.22623031643226
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": 1.5707963267948966
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
656.6657845110984,
|
| 188 |
+
890.0845294729908,
|
| 189 |
+
177.22623031643226
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": 1.5707963267948966
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
656.6657845110984,
|
| 201 |
+
893.0845294729908,
|
| 202 |
+
177.22623031643226
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": 1.5707963267948966
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
656.6657845110984,
|
| 214 |
+
896.0845294729908,
|
| 215 |
+
177.22623031643226
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": 1.5707963267948966
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
656.6657845110984,
|
| 227 |
+
899.0845294729908,
|
| 228 |
+
177.22623031643226
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": 1.5707963267948966
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
656.6657845110984,
|
| 240 |
+
902.0845294729908,
|
| 241 |
+
177.22623031643226
|
| 242 |
+
],
|
| 243 |
+
"type": "stop",
|
| 244 |
+
"value": 0,
|
| 245 |
+
"yaw": 1.5707963267948966
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"aim_landmark": {
|
| 250 |
+
"color": "test",
|
| 251 |
+
"feature": "test",
|
| 252 |
+
"position": [
|
| 253 |
+
656.0,
|
| 254 |
+
936.0,
|
| 255 |
+
215.703
|
| 256 |
+
],
|
| 257 |
+
"shape": "test",
|
| 258 |
+
"dir": "center",
|
| 259 |
+
"size": "test",
|
| 260 |
+
"type": "building"
|
| 261 |
+
}
|
| 262 |
+
}
|
Image/env_airsim_sh/astar_data/high_short/2025-1-10_17-42-14_825726814/pose.jsonl
ADDED
|
@@ -0,0 +1,210 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
24.41182099461798,
|
| 6 |
+
640.3471569511738,
|
| 7 |
+
177.22623031643226
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": -1.5707963267948966
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
24.41182099461798,
|
| 19 |
+
637.3471569511738,
|
| 20 |
+
177.22623031643226
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": -1.5707963267948966
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
24.41182099461798,
|
| 32 |
+
634.3471569511738,
|
| 33 |
+
177.22623031643226
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": -1.5707963267948966
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
24.41182099461798,
|
| 45 |
+
631.3471569511738,
|
| 46 |
+
177.22623031643226
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": -1.5707963267948966
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
24.41182099461798,
|
| 58 |
+
628.3471569511738,
|
| 59 |
+
177.22623031643226
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": -1.5707963267948966
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
24.41182099461798,
|
| 71 |
+
625.3471569511738,
|
| 72 |
+
177.22623031643226
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": -1.5707963267948966
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
24.41182099461798,
|
| 84 |
+
622.3471569511738,
|
| 85 |
+
177.22623031643226
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": -1.5707963267948966
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
24.41182099461798,
|
| 97 |
+
619.3471569511738,
|
| 98 |
+
177.22623031643226
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": -1.5707963267948966
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
24.41182099461798,
|
| 110 |
+
616.3471569511738,
|
| 111 |
+
177.22623031643226
|
| 112 |
+
],
|
| 113 |
+
"type": "turn right",
|
| 114 |
+
"value": 30,
|
| 115 |
+
"yaw": -1.5707963267948966
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
24.41182099461798,
|
| 123 |
+
616.3471569511738,
|
| 124 |
+
177.22623031643226
|
| 125 |
+
],
|
| 126 |
+
"type": "turn right",
|
| 127 |
+
"value": 30,
|
| 128 |
+
"yaw": -2.0943951023931953
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
24.41182099461798,
|
| 136 |
+
616.3471569511738,
|
| 137 |
+
177.22623031643226
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": -2.617993877991494
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
21.813744783264664,
|
| 149 |
+
614.8471569511738,
|
| 150 |
+
177.22623031643226
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": -2.6179938779914944
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
19.215668571911348,
|
| 162 |
+
613.3471569511738,
|
| 163 |
+
177.22623031643226
|
| 164 |
+
],
|
| 165 |
+
"type": "turn left",
|
| 166 |
+
"value": 30,
|
| 167 |
+
"yaw": -2.6179938779914944
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
19.215668571911348,
|
| 175 |
+
613.3471569511738,
|
| 176 |
+
177.22623031643226
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": -2.0943951023931957
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
17.715668571911348,
|
| 188 |
+
610.7490807398206,
|
| 189 |
+
177.22623031643226
|
| 190 |
+
],
|
| 191 |
+
"type": "stop",
|
| 192 |
+
"value": 0,
|
| 193 |
+
"yaw": -2.0943951023931957
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"aim_landmark": {
|
| 198 |
+
"color": "test",
|
| 199 |
+
"feature": "test",
|
| 200 |
+
"position": [
|
| 201 |
+
4.0,
|
| 202 |
+
564.0,
|
| 203 |
+
235.27
|
| 204 |
+
],
|
| 205 |
+
"shape": "test",
|
| 206 |
+
"dir": "center",
|
| 207 |
+
"size": "test",
|
| 208 |
+
"type": "building"
|
| 209 |
+
}
|
| 210 |
+
}
|
Image/env_airsim_sh/astar_data/high_short/2025-1-10_17-48-17_2056665155/pose.jsonl
ADDED
|
@@ -0,0 +1,67 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
-28.008668319213,
|
| 6 |
+
575.7869406325839,
|
| 7 |
+
177.22623031643226
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 0.0
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
-25.008668319213,
|
| 19 |
+
575.7869406325839,
|
| 20 |
+
177.22623031643226
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 0.0
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
-22.008668319213,
|
| 32 |
+
575.7869406325839,
|
| 33 |
+
177.22623031643226
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 0.0
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
-19.008668319213,
|
| 45 |
+
575.7869406325839,
|
| 46 |
+
177.22623031643226
|
| 47 |
+
],
|
| 48 |
+
"type": "stop",
|
| 49 |
+
"value": 0,
|
| 50 |
+
"yaw": 0.0
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"aim_landmark": {
|
| 55 |
+
"color": "test",
|
| 56 |
+
"feature": "test",
|
| 57 |
+
"position": [
|
| 58 |
+
36.0,
|
| 59 |
+
576.0,
|
| 60 |
+
235.275
|
| 61 |
+
],
|
| 62 |
+
"shape": "test",
|
| 63 |
+
"dir": "center",
|
| 64 |
+
"size": "test",
|
| 65 |
+
"type": "building"
|
| 66 |
+
}
|
| 67 |
+
}
|
Image/env_airsim_sh/astar_data/high_short/2025-1-10_17-5-10_672139932/pose.jsonl
ADDED
|
@@ -0,0 +1,80 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
117.12735491960683,
|
| 6 |
+
95.33574211723088,
|
| 7 |
+
177.22623031643226
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": -1.0471975511965979
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
118.62735491960683,
|
| 19 |
+
92.73766590587756,
|
| 20 |
+
177.22623031643226
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": -1.0471975511965979
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
120.12735491960683,
|
| 32 |
+
90.13958969452425,
|
| 33 |
+
177.22623031643226
|
| 34 |
+
],
|
| 35 |
+
"type": "turn right",
|
| 36 |
+
"value": 30,
|
| 37 |
+
"yaw": -1.0471975511965979
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
120.12735491960683,
|
| 45 |
+
90.13958969452425,
|
| 46 |
+
177.22623031643226
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": -1.5707963267948966
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
120.12735491960683,
|
| 58 |
+
87.13958969452425,
|
| 59 |
+
177.22623031643226
|
| 60 |
+
],
|
| 61 |
+
"type": "stop",
|
| 62 |
+
"value": 0,
|
| 63 |
+
"yaw": -1.5707963267948966
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"aim_landmark": {
|
| 68 |
+
"color": "test",
|
| 69 |
+
"feature": "test",
|
| 70 |
+
"position": [
|
| 71 |
+
140.0,
|
| 72 |
+
20.0,
|
| 73 |
+
602.915
|
| 74 |
+
],
|
| 75 |
+
"shape": "test",
|
| 76 |
+
"dir": "center",
|
| 77 |
+
"size": "test",
|
| 78 |
+
"type": "building"
|
| 79 |
+
}
|
| 80 |
+
}
|
Image/env_airsim_sh/astar_data/high_short/2025-1-10_17-53-1_1372668364/pose.jsonl
ADDED
|
@@ -0,0 +1,236 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
164.42444459421782,
|
| 6 |
+
792.695099821309,
|
| 7 |
+
177.22623031643226
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 3.141592653589793
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
161.42444459421782,
|
| 19 |
+
792.695099821309,
|
| 20 |
+
177.22623031643226
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 3.141592653589793
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
158.42444459421782,
|
| 32 |
+
792.695099821309,
|
| 33 |
+
177.22623031643226
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 3.141592653589793
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
155.42444459421782,
|
| 45 |
+
792.695099821309,
|
| 46 |
+
177.22623031643226
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 3.141592653589793
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
152.42444459421782,
|
| 58 |
+
792.695099821309,
|
| 59 |
+
177.22623031643226
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 3.141592653589793
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
149.42444459421782,
|
| 71 |
+
792.695099821309,
|
| 72 |
+
177.22623031643226
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 3.141592653589793
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
146.42444459421782,
|
| 84 |
+
792.695099821309,
|
| 85 |
+
177.22623031643226
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 3.141592653589793
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
143.42444459421782,
|
| 97 |
+
792.695099821309,
|
| 98 |
+
177.22623031643226
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 3.141592653589793
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
140.42444459421782,
|
| 110 |
+
792.695099821309,
|
| 111 |
+
177.22623031643226
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 3.141592653589793
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
137.42444459421782,
|
| 123 |
+
792.695099821309,
|
| 124 |
+
177.22623031643226
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 3.141592653589793
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
134.42444459421782,
|
| 136 |
+
792.695099821309,
|
| 137 |
+
177.22623031643226
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 3.141592653589793
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
131.42444459421782,
|
| 149 |
+
792.695099821309,
|
| 150 |
+
177.22623031643226
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": 3.141592653589793
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
128.42444459421782,
|
| 162 |
+
792.695099821309,
|
| 163 |
+
177.22623031643226
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": 3.141592653589793
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
125.42444459421782,
|
| 175 |
+
792.695099821309,
|
| 176 |
+
177.22623031643226
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": 3.141592653589793
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
122.42444459421782,
|
| 188 |
+
792.695099821309,
|
| 189 |
+
177.22623031643226
|
| 190 |
+
],
|
| 191 |
+
"type": "turn right",
|
| 192 |
+
"value": 30,
|
| 193 |
+
"yaw": 3.141592653589793
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
122.42444459421782,
|
| 201 |
+
792.695099821309,
|
| 202 |
+
177.22623031643226
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": 2.6179938779914944
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
119.8263683828645,
|
| 214 |
+
794.195099821309,
|
| 215 |
+
177.22623031643226
|
| 216 |
+
],
|
| 217 |
+
"type": "stop",
|
| 218 |
+
"value": 0,
|
| 219 |
+
"yaw": 2.6179938779914944
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"aim_landmark": {
|
| 224 |
+
"color": "test",
|
| 225 |
+
"feature": "test",
|
| 226 |
+
"position": [
|
| 227 |
+
84.0,
|
| 228 |
+
796.0,
|
| 229 |
+
203.339
|
| 230 |
+
],
|
| 231 |
+
"shape": "test",
|
| 232 |
+
"dir": "left",
|
| 233 |
+
"size": "test",
|
| 234 |
+
"type": "building"
|
| 235 |
+
}
|
| 236 |
+
}
|
Image/env_airsim_sh/astar_data/high_short/2025-1-10_17-56-26_1953161956/pose.jsonl
ADDED
|
@@ -0,0 +1,249 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
595.4779399074641,
|
| 6 |
+
-1050.0696131161035,
|
| 7 |
+
177.22623031643226
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 0.0
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
598.4779399074641,
|
| 19 |
+
-1050.0696131161035,
|
| 20 |
+
177.22623031643226
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 0.0
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
601.4779399074641,
|
| 32 |
+
-1050.0696131161035,
|
| 33 |
+
177.22623031643226
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 0.0
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
604.4779399074641,
|
| 45 |
+
-1050.0696131161035,
|
| 46 |
+
177.22623031643226
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 0.0
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
607.4779399074641,
|
| 58 |
+
-1050.0696131161035,
|
| 59 |
+
177.22623031643226
|
| 60 |
+
],
|
| 61 |
+
"type": "turn right",
|
| 62 |
+
"value": 30,
|
| 63 |
+
"yaw": 0.0
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
607.4779399074641,
|
| 71 |
+
-1050.0696131161035,
|
| 72 |
+
177.22623031643226
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": -0.5235987755982988
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
610.0760161188175,
|
| 84 |
+
-1051.5696131161035,
|
| 85 |
+
177.22623031643226
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": -0.5235987755982894
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
612.6740923301709,
|
| 97 |
+
-1053.0696131161035,
|
| 98 |
+
177.22623031643226
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": -0.5235987755982894
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
615.2721685415243,
|
| 110 |
+
-1054.5696131161035,
|
| 111 |
+
177.22623031643226
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": -0.5235987755982894
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
617.8702447528776,
|
| 123 |
+
-1056.0696131161035,
|
| 124 |
+
177.22623031643226
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": -0.5235987755982894
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
620.468320964231,
|
| 136 |
+
-1057.5696131161035,
|
| 137 |
+
177.22623031643226
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": -0.5235987755982894
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
623.0663971755844,
|
| 149 |
+
-1059.0696131161035,
|
| 150 |
+
177.22623031643226
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": -0.5235987755982894
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
625.6644733869377,
|
| 162 |
+
-1060.5696131161035,
|
| 163 |
+
177.22623031643226
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": -0.5235987755982894
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
628.2625495982911,
|
| 175 |
+
-1062.0696131161035,
|
| 176 |
+
177.22623031643226
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": -0.5235987755982894
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
630.8606258096445,
|
| 188 |
+
-1063.5696131161035,
|
| 189 |
+
177.22623031643226
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": -0.5235987755982894
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
633.4587020209979,
|
| 201 |
+
-1065.0696131161035,
|
| 202 |
+
177.22623031643226
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": -0.5235987755982894
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
636.0567782323512,
|
| 214 |
+
-1066.5696131161035,
|
| 215 |
+
177.22623031643226
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": -0.5235987755982894
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
638.6548544437046,
|
| 227 |
+
-1068.0696131161035,
|
| 228 |
+
177.22623031643226
|
| 229 |
+
],
|
| 230 |
+
"type": "stop",
|
| 231 |
+
"value": 0,
|
| 232 |
+
"yaw": -0.5235987755982894
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"aim_landmark": {
|
| 237 |
+
"color": "test",
|
| 238 |
+
"feature": "test",
|
| 239 |
+
"position": [
|
| 240 |
+
684.0,
|
| 241 |
+
-1088.0,
|
| 242 |
+
165.83
|
| 243 |
+
],
|
| 244 |
+
"shape": "test",
|
| 245 |
+
"dir": "center",
|
| 246 |
+
"size": "test",
|
| 247 |
+
"type": "building"
|
| 248 |
+
}
|
| 249 |
+
}
|
Image/env_airsim_sh/astar_data/high_short/2025-1-10_18-16-19_1111800030/pose.jsonl
ADDED
|
@@ -0,0 +1,262 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
266.28372212611106,
|
| 6 |
+
266.8910079636343,
|
| 7 |
+
177.22623031643226
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": -2.0943951023931953
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
264.78372212611106,
|
| 19 |
+
264.292931752281,
|
| 20 |
+
177.22623031643226
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": -2.0943951023931953
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
263.28372212611106,
|
| 32 |
+
261.6948555409277,
|
| 33 |
+
177.22623031643226
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": -2.0943951023931953
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
261.78372212611106,
|
| 45 |
+
259.09677932957436,
|
| 46 |
+
177.22623031643226
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": -2.0943951023931953
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
260.28372212611106,
|
| 58 |
+
256.49870311822104,
|
| 59 |
+
177.22623031643226
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": -2.0943951023931953
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
258.78372212611106,
|
| 71 |
+
253.90062690686773,
|
| 72 |
+
177.22623031643226
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": -2.0943951023931953
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
257.28372212611106,
|
| 84 |
+
251.3025506955144,
|
| 85 |
+
177.22623031643226
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": -2.0943951023931953
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
255.78372212611106,
|
| 97 |
+
248.7044744841611,
|
| 98 |
+
177.22623031643226
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": -2.0943951023931953
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
254.28372212611106,
|
| 110 |
+
246.10639827280778,
|
| 111 |
+
177.22623031643226
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": -2.0943951023931953
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
252.78372212611106,
|
| 123 |
+
243.50832206145446,
|
| 124 |
+
177.22623031643226
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": -2.0943951023931953
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
251.28372212611106,
|
| 136 |
+
240.91024585010115,
|
| 137 |
+
177.22623031643226
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": -2.0943951023931953
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
249.78372212611106,
|
| 149 |
+
238.31216963874783,
|
| 150 |
+
177.22623031643226
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": -2.0943951023931953
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
248.28372212611106,
|
| 162 |
+
235.71409342739452,
|
| 163 |
+
177.22623031643226
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": -2.0943951023931953
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
246.78372212611106,
|
| 175 |
+
233.1160172160412,
|
| 176 |
+
177.22623031643226
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": -2.0943951023931953
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
245.28372212611106,
|
| 188 |
+
230.51794100468788,
|
| 189 |
+
177.22623031643226
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": -2.0943951023931953
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
243.78372212611106,
|
| 201 |
+
227.91986479333457,
|
| 202 |
+
177.22623031643226
|
| 203 |
+
],
|
| 204 |
+
"type": "turn right",
|
| 205 |
+
"value": 30,
|
| 206 |
+
"yaw": -2.0943951023931953
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
243.78372212611106,
|
| 214 |
+
227.91986479333457,
|
| 215 |
+
177.22623031643226
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": -2.617993877991494
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
241.18564591475774,
|
| 227 |
+
226.41986479333457,
|
| 228 |
+
177.22623031643226
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": -2.6179938779914944
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
238.58756970340443,
|
| 240 |
+
224.91986479333457,
|
| 241 |
+
177.22623031643226
|
| 242 |
+
],
|
| 243 |
+
"type": "stop",
|
| 244 |
+
"value": 0,
|
| 245 |
+
"yaw": -2.6179938779914944
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"aim_landmark": {
|
| 250 |
+
"color": "test",
|
| 251 |
+
"feature": "test",
|
| 252 |
+
"position": [
|
| 253 |
+
216.0,
|
| 254 |
+
196.0,
|
| 255 |
+
446.603
|
| 256 |
+
],
|
| 257 |
+
"shape": "test",
|
| 258 |
+
"dir": "center",
|
| 259 |
+
"size": "test",
|
| 260 |
+
"type": "building"
|
| 261 |
+
}
|
| 262 |
+
}
|
Image/env_airsim_sh/astar_data/high_short/2025-1-10_18-31-45_217161528/pose.jsonl
ADDED
|
@@ -0,0 +1,106 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
-74.69253820478917,
|
| 6 |
+
143.75488974128115,
|
| 7 |
+
177.22623031643226
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": -2.6179938779914944
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
-77.29061441614249,
|
| 19 |
+
142.25488974128115,
|
| 20 |
+
177.22623031643226
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": -2.6179938779914944
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
-79.8886906274958,
|
| 32 |
+
140.75488974128115,
|
| 33 |
+
177.22623031643226
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": -2.6179938779914944
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
-82.48676683884912,
|
| 45 |
+
139.25488974128115,
|
| 46 |
+
177.22623031643226
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": -2.6179938779914944
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
-85.08484305020244,
|
| 58 |
+
137.75488974128115,
|
| 59 |
+
177.22623031643226
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": -2.6179938779914944
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
-87.68291926155575,
|
| 71 |
+
136.25488974128115,
|
| 72 |
+
177.22623031643226
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": -2.6179938779914944
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
-90.28099547290907,
|
| 84 |
+
134.75488974128115,
|
| 85 |
+
177.22623031643226
|
| 86 |
+
],
|
| 87 |
+
"type": "stop",
|
| 88 |
+
"value": 0,
|
| 89 |
+
"yaw": -2.6179938779914944
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"aim_landmark": {
|
| 94 |
+
"color": "test",
|
| 95 |
+
"feature": "test",
|
| 96 |
+
"position": [
|
| 97 |
+
-136.0,
|
| 98 |
+
116.0,
|
| 99 |
+
204.047
|
| 100 |
+
],
|
| 101 |
+
"shape": "test",
|
| 102 |
+
"dir": "center",
|
| 103 |
+
"size": "test",
|
| 104 |
+
"type": "building"
|
| 105 |
+
}
|
| 106 |
+
}
|
Image/env_airsim_sh/astar_data/high_short/2025-1-10_18-47-4_1588695568/pose.jsonl
ADDED
|
@@ -0,0 +1,210 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
835.7748660568241,
|
| 6 |
+
-1234.7581266629704,
|
| 7 |
+
177.22623031643226
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": -2.094395102393186
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
834.2748660568241,
|
| 19 |
+
-1237.3562028743238,
|
| 20 |
+
177.22623031643226
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": -2.094395102393186
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
832.7748660568241,
|
| 32 |
+
-1239.9542790856772,
|
| 33 |
+
177.22623031643226
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": -2.094395102393186
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
831.2748660568241,
|
| 45 |
+
-1242.5523552970305,
|
| 46 |
+
177.22623031643226
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": -2.094395102393186
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
829.7748660568241,
|
| 58 |
+
-1245.150431508384,
|
| 59 |
+
177.22623031643226
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": -2.094395102393186
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
828.2748660568241,
|
| 71 |
+
-1247.7485077197373,
|
| 72 |
+
177.22623031643226
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": -2.094395102393186
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
826.7748660568241,
|
| 84 |
+
-1250.3465839310907,
|
| 85 |
+
177.22623031643226
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": -2.094395102393186
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
825.2748660568241,
|
| 97 |
+
-1252.944660142444,
|
| 98 |
+
177.22623031643226
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": -2.094395102393186
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
823.7748660568241,
|
| 110 |
+
-1255.5427363537974,
|
| 111 |
+
177.22623031643226
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": -2.094395102393186
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
822.2748660568241,
|
| 123 |
+
-1258.1408125651508,
|
| 124 |
+
177.22623031643226
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": -2.094395102393186
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
820.7748660568241,
|
| 136 |
+
-1260.7388887765042,
|
| 137 |
+
177.22623031643226
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": -2.094395102393186
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
819.2748660568241,
|
| 149 |
+
-1263.3369649878575,
|
| 150 |
+
177.22623031643226
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": -2.094395102393186
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
817.7748660568241,
|
| 162 |
+
-1265.935041199211,
|
| 163 |
+
177.22623031643226
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": -2.094395102393186
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
816.2748660568241,
|
| 175 |
+
-1268.5331174105643,
|
| 176 |
+
177.22623031643226
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": -2.094395102393186
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
814.7748660568241,
|
| 188 |
+
-1271.1311936219176,
|
| 189 |
+
177.22623031643226
|
| 190 |
+
],
|
| 191 |
+
"type": "stop",
|
| 192 |
+
"value": 0,
|
| 193 |
+
"yaw": -2.094395102393186
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"aim_landmark": {
|
| 198 |
+
"color": "test",
|
| 199 |
+
"feature": "test",
|
| 200 |
+
"position": [
|
| 201 |
+
800.0,
|
| 202 |
+
-1304.0,
|
| 203 |
+
163.632
|
| 204 |
+
],
|
| 205 |
+
"shape": "test",
|
| 206 |
+
"dir": "center",
|
| 207 |
+
"size": "test",
|
| 208 |
+
"type": "building"
|
| 209 |
+
}
|
| 210 |
+
}
|
Image/env_airsim_sh/astar_data/high_short/2025-1-10_18-53-46_832077645/pose.jsonl
ADDED
|
@@ -0,0 +1,327 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
735.6696506135064,
|
| 6 |
+
-1021.2661800416529,
|
| 7 |
+
177.22623031643226
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": -2.094395102393186
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
734.1696506135064,
|
| 19 |
+
-1023.8642562530063,
|
| 20 |
+
177.22623031643226
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": -2.094395102393186
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
732.6696506135064,
|
| 32 |
+
-1026.4623324643596,
|
| 33 |
+
177.22623031643226
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": -2.094395102393186
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
731.1696506135064,
|
| 45 |
+
-1029.060408675713,
|
| 46 |
+
177.22623031643226
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": -2.094395102393186
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
729.6696506135064,
|
| 58 |
+
-1031.6584848870664,
|
| 59 |
+
177.22623031643226
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": -2.094395102393186
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
728.1696506135064,
|
| 71 |
+
-1034.2565610984198,
|
| 72 |
+
177.22623031643226
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": -2.094395102393186
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
726.6696506135064,
|
| 84 |
+
-1036.8546373097731,
|
| 85 |
+
177.22623031643226
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": -2.094395102393186
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
725.1696506135064,
|
| 97 |
+
-1039.4527135211265,
|
| 98 |
+
177.22623031643226
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": -2.094395102393186
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
723.6696506135064,
|
| 110 |
+
-1042.0507897324799,
|
| 111 |
+
177.22623031643226
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": -2.094395102393186
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
722.1696506135064,
|
| 123 |
+
-1044.6488659438332,
|
| 124 |
+
177.22623031643226
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": -2.094395102393186
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
720.6696506135064,
|
| 136 |
+
-1047.2469421551866,
|
| 137 |
+
177.22623031643226
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": -2.094395102393186
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
719.1696506135064,
|
| 149 |
+
-1049.84501836654,
|
| 150 |
+
177.22623031643226
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": -2.094395102393186
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
717.6696506135064,
|
| 162 |
+
-1052.4430945778934,
|
| 163 |
+
177.22623031643226
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": -2.094395102393186
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
716.1696506135064,
|
| 175 |
+
-1055.0411707892467,
|
| 176 |
+
177.22623031643226
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": -2.094395102393186
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
714.6696506135064,
|
| 188 |
+
-1057.6392470006,
|
| 189 |
+
177.22623031643226
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": -2.094395102393186
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
713.1696506135064,
|
| 201 |
+
-1060.2373232119535,
|
| 202 |
+
177.22623031643226
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": -2.094395102393186
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
711.6696506135064,
|
| 214 |
+
-1062.8353994233069,
|
| 215 |
+
177.22623031643226
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": -2.094395102393186
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
710.1696506135064,
|
| 227 |
+
-1065.4334756346602,
|
| 228 |
+
177.22623031643226
|
| 229 |
+
],
|
| 230 |
+
"type": "turn right",
|
| 231 |
+
"value": 30,
|
| 232 |
+
"yaw": -2.094395102393186
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
710.1696506135064,
|
| 240 |
+
-1065.4334756346602,
|
| 241 |
+
177.22623031643226
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": -2.6179938779914846
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
707.5715744021531,
|
| 253 |
+
-1066.9334756346602,
|
| 254 |
+
177.22623031643226
|
| 255 |
+
],
|
| 256 |
+
"type": "go straight",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": -2.617993877991485
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
704.9734981907998,
|
| 266 |
+
-1068.4334756346602,
|
| 267 |
+
177.22623031643226
|
| 268 |
+
],
|
| 269 |
+
"type": "go straight",
|
| 270 |
+
"value": 3,
|
| 271 |
+
"yaw": -2.6179938779915037
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
702.3754219794464,
|
| 279 |
+
-1069.9334756346602,
|
| 280 |
+
177.22623031643226
|
| 281 |
+
],
|
| 282 |
+
"type": "go straight",
|
| 283 |
+
"value": 3,
|
| 284 |
+
"yaw": -2.6179938779915037
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"action": {
|
| 289 |
+
"imageid": 22,
|
| 290 |
+
"pos": [
|
| 291 |
+
699.777345768093,
|
| 292 |
+
-1071.4334756346602,
|
| 293 |
+
177.22623031643226
|
| 294 |
+
],
|
| 295 |
+
"type": "go straight",
|
| 296 |
+
"value": 3,
|
| 297 |
+
"yaw": -2.6179938779915037
|
| 298 |
+
}
|
| 299 |
+
}
|
| 300 |
+
{
|
| 301 |
+
"action": {
|
| 302 |
+
"imageid": 23,
|
| 303 |
+
"pos": [
|
| 304 |
+
697.1792695567397,
|
| 305 |
+
-1072.9334756346602,
|
| 306 |
+
177.22623031643226
|
| 307 |
+
],
|
| 308 |
+
"type": "stop",
|
| 309 |
+
"value": 0,
|
| 310 |
+
"yaw": -2.6179938779915037
|
| 311 |
+
}
|
| 312 |
+
}
|
| 313 |
+
{
|
| 314 |
+
"aim_landmark": {
|
| 315 |
+
"color": "test",
|
| 316 |
+
"feature": "test",
|
| 317 |
+
"position": [
|
| 318 |
+
684.0,
|
| 319 |
+
-1088.0,
|
| 320 |
+
165.83
|
| 321 |
+
],
|
| 322 |
+
"shape": "test",
|
| 323 |
+
"dir": "center",
|
| 324 |
+
"size": "test",
|
| 325 |
+
"type": "building"
|
| 326 |
+
}
|
| 327 |
+
}
|
Image/env_airsim_sh/astar_data/high_short/2025-1-10_18-54-17_73673339/pose.jsonl
ADDED
|
@@ -0,0 +1,288 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
304.0574232508592,
|
| 6 |
+
696.9890101920246,
|
| 7 |
+
177.22623031643226
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 2.094395102393186
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
302.5574232508592,
|
| 19 |
+
699.587086403378,
|
| 20 |
+
177.22623031643226
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 2.094395102393186
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
301.0574232508592,
|
| 32 |
+
702.1851626147313,
|
| 33 |
+
177.22623031643226
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 2.094395102393186
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
299.5574232508592,
|
| 45 |
+
704.7832388260847,
|
| 46 |
+
177.22623031643226
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 2.094395102393186
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
298.0574232508592,
|
| 58 |
+
707.3813150374381,
|
| 59 |
+
177.22623031643226
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 2.094395102393186
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
296.5574232508592,
|
| 71 |
+
709.9793912487914,
|
| 72 |
+
177.22623031643226
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 2.094395102393186
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
295.0574232508592,
|
| 84 |
+
712.5774674601448,
|
| 85 |
+
177.22623031643226
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 2.094395102393186
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
293.5574232508592,
|
| 97 |
+
715.1755436714982,
|
| 98 |
+
177.22623031643226
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 2.094395102393186
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
292.0574232508592,
|
| 110 |
+
717.7736198828516,
|
| 111 |
+
177.22623031643226
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 2.094395102393186
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
290.5574232508592,
|
| 123 |
+
720.3716960942049,
|
| 124 |
+
177.22623031643226
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 2.094395102393186
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
289.0574232508592,
|
| 136 |
+
722.9697723055583,
|
| 137 |
+
177.22623031643226
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 2.094395102393186
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
287.5574232508592,
|
| 149 |
+
725.5678485169117,
|
| 150 |
+
177.22623031643226
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": 2.094395102393186
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
286.0574232508592,
|
| 162 |
+
728.165924728265,
|
| 163 |
+
177.22623031643226
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": 2.094395102393186
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
284.5574232508592,
|
| 175 |
+
730.7640009396184,
|
| 176 |
+
177.22623031643226
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": 2.094395102393186
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
283.0574232508592,
|
| 188 |
+
733.3620771509718,
|
| 189 |
+
177.22623031643226
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": 2.094395102393186
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
281.5574232508592,
|
| 201 |
+
735.9601533623252,
|
| 202 |
+
177.22623031643226
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": 2.094395102393186
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
280.0574232508592,
|
| 214 |
+
738.5582295736785,
|
| 215 |
+
177.22623031643226
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": 2.094395102393186
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
278.5574232508592,
|
| 227 |
+
741.1563057850319,
|
| 228 |
+
177.22623031643226
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": 2.094395102393186
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
277.0574232508592,
|
| 240 |
+
743.7543819963853,
|
| 241 |
+
177.22623031643226
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": 2.094395102393186
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
275.5574232508592,
|
| 253 |
+
746.3524582077387,
|
| 254 |
+
177.22623031643226
|
| 255 |
+
],
|
| 256 |
+
"type": "go straight",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": 2.094395102393186
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
274.0574232508592,
|
| 266 |
+
748.950534419092,
|
| 267 |
+
177.22623031643226
|
| 268 |
+
],
|
| 269 |
+
"type": "stop",
|
| 270 |
+
"value": 0,
|
| 271 |
+
"yaw": 2.094395102393186
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"aim_landmark": {
|
| 276 |
+
"color": "test",
|
| 277 |
+
"feature": "test",
|
| 278 |
+
"position": [
|
| 279 |
+
252.0,
|
| 280 |
+
780.0,
|
| 281 |
+
191.626
|
| 282 |
+
],
|
| 283 |
+
"shape": "test",
|
| 284 |
+
"dir": "center",
|
| 285 |
+
"size": "test",
|
| 286 |
+
"type": "building"
|
| 287 |
+
}
|
| 288 |
+
}
|
Image/env_airsim_sh/astar_data/high_short/2025-1-10_18-6-28_1139352160/pose.jsonl
ADDED
|
@@ -0,0 +1,275 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
263.8565896905425,
|
| 6 |
+
865.7113146120622,
|
| 7 |
+
177.22623031643226
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": -1.5707963267948966
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
263.8565896905425,
|
| 19 |
+
862.7113146120622,
|
| 20 |
+
177.22623031643226
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": -1.5707963267948966
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
263.8565896905425,
|
| 32 |
+
859.7113146120622,
|
| 33 |
+
177.22623031643226
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": -1.5707963267948966
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
263.8565896905425,
|
| 45 |
+
856.7113146120622,
|
| 46 |
+
177.22623031643226
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": -1.5707963267948966
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
263.8565896905425,
|
| 58 |
+
853.7113146120622,
|
| 59 |
+
177.22623031643226
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": -1.5707963267948966
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
263.8565896905425,
|
| 71 |
+
850.7113146120622,
|
| 72 |
+
177.22623031643226
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": -1.5707963267948966
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
263.8565896905425,
|
| 84 |
+
847.7113146120622,
|
| 85 |
+
177.22623031643226
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": -1.5707963267948966
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
263.8565896905425,
|
| 97 |
+
844.7113146120622,
|
| 98 |
+
177.22623031643226
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": -1.5707963267948966
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
263.8565896905425,
|
| 110 |
+
841.7113146120622,
|
| 111 |
+
177.22623031643226
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": -1.5707963267948966
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
263.8565896905425,
|
| 123 |
+
838.7113146120622,
|
| 124 |
+
177.22623031643226
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": -1.5707963267948966
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
263.8565896905425,
|
| 136 |
+
835.7113146120622,
|
| 137 |
+
177.22623031643226
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": -1.5707963267948966
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
263.8565896905425,
|
| 149 |
+
832.7113146120622,
|
| 150 |
+
177.22623031643226
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": -1.5707963267948966
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
263.8565896905425,
|
| 162 |
+
829.7113146120622,
|
| 163 |
+
177.22623031643226
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": -1.5707963267948966
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
263.8565896905425,
|
| 175 |
+
826.7113146120622,
|
| 176 |
+
177.22623031643226
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": -1.5707963267948966
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
263.8565896905425,
|
| 188 |
+
823.7113146120622,
|
| 189 |
+
177.22623031643226
|
| 190 |
+
],
|
| 191 |
+
"type": "turn right",
|
| 192 |
+
"value": 30,
|
| 193 |
+
"yaw": -1.5707963267948966
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
263.8565896905425,
|
| 201 |
+
823.7113146120622,
|
| 202 |
+
177.22623031643226
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": -2.0943951023931953
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
262.3565896905425,
|
| 214 |
+
821.113238400709,
|
| 215 |
+
177.22623031643226
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": -2.094395102393205
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
260.8565896905425,
|
| 227 |
+
818.5151621893556,
|
| 228 |
+
177.22623031643226
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": -2.094395102393186
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
259.3565896905425,
|
| 240 |
+
815.9170859780022,
|
| 241 |
+
177.22623031643226
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": -2.094395102393186
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
257.8565896905425,
|
| 253 |
+
813.3190097666488,
|
| 254 |
+
177.22623031643226
|
| 255 |
+
],
|
| 256 |
+
"type": "stop",
|
| 257 |
+
"value": 0,
|
| 258 |
+
"yaw": -2.094395102393186
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"aim_landmark": {
|
| 263 |
+
"color": "test",
|
| 264 |
+
"feature": "test",
|
| 265 |
+
"position": [
|
| 266 |
+
252.0,
|
| 267 |
+
780.0,
|
| 268 |
+
191.626
|
| 269 |
+
],
|
| 270 |
+
"shape": "test",
|
| 271 |
+
"dir": "center",
|
| 272 |
+
"size": "test",
|
| 273 |
+
"type": "building"
|
| 274 |
+
}
|
| 275 |
+
}
|
Image/env_airsim_sh/astar_data/high_short/2025-1-10_19-24-44_816976784/pose.jsonl
ADDED
|
@@ -0,0 +1,249 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
844.1483638111041,
|
| 6 |
+
-1249.3651432104646,
|
| 7 |
+
177.22623031643226
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": -2.094395102393186
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
842.6483638111041,
|
| 19 |
+
-1251.963219421818,
|
| 20 |
+
177.22623031643226
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": -2.094395102393186
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
841.1483638111041,
|
| 32 |
+
-1254.5612956331713,
|
| 33 |
+
177.22623031643226
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": -2.094395102393186
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
839.6483638111041,
|
| 45 |
+
-1257.1593718445247,
|
| 46 |
+
177.22623031643226
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": -2.094395102393186
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
838.1483638111041,
|
| 58 |
+
-1259.757448055878,
|
| 59 |
+
177.22623031643226
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": -2.094395102393186
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
836.6483638111041,
|
| 71 |
+
-1262.3555242672314,
|
| 72 |
+
177.22623031643226
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": -2.094395102393186
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
835.1483638111041,
|
| 84 |
+
-1264.9536004785848,
|
| 85 |
+
177.22623031643226
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": -2.094395102393186
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
833.6483638111041,
|
| 97 |
+
-1267.5516766899382,
|
| 98 |
+
177.22623031643226
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": -2.094395102393186
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
832.1483638111041,
|
| 110 |
+
-1270.1497529012915,
|
| 111 |
+
177.22623031643226
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": -2.094395102393186
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
830.6483638111041,
|
| 123 |
+
-1272.747829112645,
|
| 124 |
+
177.22623031643226
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": -2.094395102393186
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
829.1483638111041,
|
| 136 |
+
-1275.3459053239983,
|
| 137 |
+
177.22623031643226
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": -2.094395102393186
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
827.6483638111041,
|
| 149 |
+
-1277.9439815353517,
|
| 150 |
+
177.22623031643226
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": -2.094395102393186
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
826.1483638111041,
|
| 162 |
+
-1280.542057746705,
|
| 163 |
+
177.22623031643226
|
| 164 |
+
],
|
| 165 |
+
"type": "turn right",
|
| 166 |
+
"value": 30,
|
| 167 |
+
"yaw": -2.094395102393186
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
826.1483638111041,
|
| 175 |
+
-1280.542057746705,
|
| 176 |
+
177.22623031643226
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": -2.6179938779914846
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
823.5502875997508,
|
| 188 |
+
-1282.042057746705,
|
| 189 |
+
177.22623031643226
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": -2.617993877991485
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
820.9522113883975,
|
| 201 |
+
-1283.542057746705,
|
| 202 |
+
177.22623031643226
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": -2.6179938779915037
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
818.3541351770441,
|
| 214 |
+
-1285.042057746705,
|
| 215 |
+
177.22623031643226
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": -2.6179938779915037
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
815.7560589656907,
|
| 227 |
+
-1286.542057746705,
|
| 228 |
+
177.22623031643226
|
| 229 |
+
],
|
| 230 |
+
"type": "stop",
|
| 231 |
+
"value": 0,
|
| 232 |
+
"yaw": -2.6179938779915037
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"aim_landmark": {
|
| 237 |
+
"color": "test",
|
| 238 |
+
"feature": "test",
|
| 239 |
+
"position": [
|
| 240 |
+
800.0,
|
| 241 |
+
-1304.0,
|
| 242 |
+
163.632
|
| 243 |
+
],
|
| 244 |
+
"shape": "test",
|
| 245 |
+
"dir": "center",
|
| 246 |
+
"size": "test",
|
| 247 |
+
"type": "building"
|
| 248 |
+
}
|
| 249 |
+
}
|
Image/env_airsim_sh/astar_data/high_short/2025-1-10_19-38-57_87522686/pose.jsonl
ADDED
|
@@ -0,0 +1,249 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
834.5208853294251,
|
| 6 |
+
-1678.2834132958224,
|
| 7 |
+
177.22623031643226
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 0.0
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
837.5208853294251,
|
| 19 |
+
-1678.2834132958224,
|
| 20 |
+
177.22623031643226
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 0.0
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
840.5208853294251,
|
| 32 |
+
-1678.2834132958224,
|
| 33 |
+
177.22623031643226
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 0.0
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
843.5208853294251,
|
| 45 |
+
-1678.2834132958224,
|
| 46 |
+
177.22623031643226
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 0.0
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
846.5208853294251,
|
| 58 |
+
-1678.2834132958224,
|
| 59 |
+
177.22623031643226
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 0.0
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
849.5208853294251,
|
| 71 |
+
-1678.2834132958224,
|
| 72 |
+
177.22623031643226
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 0.0
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
852.5208853294251,
|
| 84 |
+
-1678.2834132958224,
|
| 85 |
+
177.22623031643226
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 0.0
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
855.5208853294251,
|
| 97 |
+
-1678.2834132958224,
|
| 98 |
+
177.22623031643226
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 0.0
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
858.5208853294251,
|
| 110 |
+
-1678.2834132958224,
|
| 111 |
+
177.22623031643226
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 0.0
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
861.5208853294251,
|
| 123 |
+
-1678.2834132958224,
|
| 124 |
+
177.22623031643226
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 0.0
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
864.5208853294251,
|
| 136 |
+
-1678.2834132958224,
|
| 137 |
+
177.22623031643226
|
| 138 |
+
],
|
| 139 |
+
"type": "turn right",
|
| 140 |
+
"value": 30,
|
| 141 |
+
"yaw": 0.0
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
864.5208853294251,
|
| 149 |
+
-1678.2834132958224,
|
| 150 |
+
177.22623031643226
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": -0.5235987755982988
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
867.1189615407784,
|
| 162 |
+
-1679.7834132958224,
|
| 163 |
+
177.22623031643226
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": -0.5235987755983084
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
869.7170377521318,
|
| 175 |
+
-1681.2834132958224,
|
| 176 |
+
177.22623031643226
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": -0.5235987755982894
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
872.3151139634851,
|
| 188 |
+
-1682.7834132958224,
|
| 189 |
+
177.22623031643226
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": -0.5235987755982894
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
874.9131901748385,
|
| 201 |
+
-1684.2834132958224,
|
| 202 |
+
177.22623031643226
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": -0.5235987755982894
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
877.5112663861919,
|
| 214 |
+
-1685.7834132958224,
|
| 215 |
+
177.22623031643226
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": -0.5235987755982894
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
880.1093425975453,
|
| 227 |
+
-1687.2834132958224,
|
| 228 |
+
177.22623031643226
|
| 229 |
+
],
|
| 230 |
+
"type": "stop",
|
| 231 |
+
"value": 0,
|
| 232 |
+
"yaw": -0.5235987755982894
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"aim_landmark": {
|
| 237 |
+
"color": "test",
|
| 238 |
+
"feature": "test",
|
| 239 |
+
"position": [
|
| 240 |
+
896.0,
|
| 241 |
+
-1688.0,
|
| 242 |
+
168.713
|
| 243 |
+
],
|
| 244 |
+
"shape": "test",
|
| 245 |
+
"dir": "left",
|
| 246 |
+
"size": "test",
|
| 247 |
+
"type": "building"
|
| 248 |
+
}
|
| 249 |
+
}
|
Image/env_airsim_sh/astar_data/high_short/2025-1-10_19-44-19_1763360602/pose.jsonl
ADDED
|
@@ -0,0 +1,80 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
823.622612348848,
|
| 6 |
+
-1234.1616601449875,
|
| 7 |
+
177.22623031643226
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 2.094395102393186
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
822.122612348848,
|
| 19 |
+
-1231.5635839336342,
|
| 20 |
+
177.22623031643226
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 2.094395102393186
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
820.622612348848,
|
| 32 |
+
-1228.9655077222808,
|
| 33 |
+
177.22623031643226
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 2.094395102393186
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
819.122612348848,
|
| 45 |
+
-1226.3674315109274,
|
| 46 |
+
177.22623031643226
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 2.094395102393186
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
817.622612348848,
|
| 58 |
+
-1223.769355299574,
|
| 59 |
+
177.22623031643226
|
| 60 |
+
],
|
| 61 |
+
"type": "stop",
|
| 62 |
+
"value": 0,
|
| 63 |
+
"yaw": 2.094395102393186
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"aim_landmark": {
|
| 68 |
+
"color": "test",
|
| 69 |
+
"feature": "test",
|
| 70 |
+
"position": [
|
| 71 |
+
768.0,
|
| 72 |
+
-1160.0,
|
| 73 |
+
163.63
|
| 74 |
+
],
|
| 75 |
+
"shape": "test",
|
| 76 |
+
"dir": "center",
|
| 77 |
+
"size": "test",
|
| 78 |
+
"type": "building"
|
| 79 |
+
}
|
| 80 |
+
}
|
Image/env_airsim_sh/astar_data/high_short/2025-1-10_19-46-58_2113556942/pose.jsonl
ADDED
|
@@ -0,0 +1,249 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
-33.60186686722566,
|
| 6 |
+
635.3080113570902,
|
| 7 |
+
177.22623031643226
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": -1.0471975511966072
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
-32.10186686722566,
|
| 19 |
+
632.7099351457368,
|
| 20 |
+
177.22623031643226
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": -1.0471975511966072
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
-30.60186686722566,
|
| 32 |
+
630.1118589343835,
|
| 33 |
+
177.22623031643226
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": -1.0471975511966072
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
-29.10186686722566,
|
| 45 |
+
627.5137827230301,
|
| 46 |
+
177.22623031643226
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": -1.0471975511966072
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
-27.60186686722566,
|
| 58 |
+
624.9157065116767,
|
| 59 |
+
177.22623031643226
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": -1.0471975511966072
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
-26.10186686722566,
|
| 71 |
+
622.3176303003233,
|
| 72 |
+
177.22623031643226
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": -1.0471975511966072
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
-24.60186686722566,
|
| 84 |
+
619.71955408897,
|
| 85 |
+
177.22623031643226
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": -1.0471975511966072
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
-23.10186686722566,
|
| 97 |
+
617.1214778776166,
|
| 98 |
+
177.22623031643226
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": -1.0471975511966072
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
-21.60186686722566,
|
| 110 |
+
614.5234016662632,
|
| 111 |
+
177.22623031643226
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": -1.0471975511966072
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
-20.10186686722566,
|
| 123 |
+
611.9253254549099,
|
| 124 |
+
177.22623031643226
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": -1.0471975511966072
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
-18.60186686722566,
|
| 136 |
+
609.3272492435565,
|
| 137 |
+
177.22623031643226
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": -1.0471975511966072
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
-17.10186686722566,
|
| 149 |
+
606.7291730322031,
|
| 150 |
+
177.22623031643226
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": -1.0471975511966072
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
-15.60186686722566,
|
| 162 |
+
604.1310968208497,
|
| 163 |
+
177.22623031643226
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": -1.0471975511966072
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
-14.10186686722566,
|
| 175 |
+
601.5330206094964,
|
| 176 |
+
177.22623031643226
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": -1.0471975511966072
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
-12.60186686722566,
|
| 188 |
+
598.934944398143,
|
| 189 |
+
177.22623031643226
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": -1.0471975511966072
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
-11.10186686722566,
|
| 201 |
+
596.3368681867896,
|
| 202 |
+
177.22623031643226
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": -1.0471975511966072
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
-9.60186686722566,
|
| 214 |
+
593.7387919754362,
|
| 215 |
+
177.22623031643226
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": -1.0471975511966072
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
-8.10186686722566,
|
| 227 |
+
591.1407157640829,
|
| 228 |
+
177.22623031643226
|
| 229 |
+
],
|
| 230 |
+
"type": "stop",
|
| 231 |
+
"value": 0,
|
| 232 |
+
"yaw": -1.0471975511966072
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"aim_landmark": {
|
| 237 |
+
"color": "test",
|
| 238 |
+
"feature": "test",
|
| 239 |
+
"position": [
|
| 240 |
+
4.0,
|
| 241 |
+
564.0,
|
| 242 |
+
235.27
|
| 243 |
+
],
|
| 244 |
+
"shape": "test",
|
| 245 |
+
"dir": "center",
|
| 246 |
+
"size": "test",
|
| 247 |
+
"type": "building"
|
| 248 |
+
}
|
| 249 |
+
}
|
Image/env_airsim_sh/astar_data/high_short/2025-1-10_19-48-55_129183332/pose.jsonl
ADDED
|
@@ -0,0 +1,236 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
731.4492856231348,
|
| 6 |
+
-1195.7229825822646,
|
| 7 |
+
177.22623031643226
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 2.094395102393186
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
729.9492856231348,
|
| 19 |
+
-1193.1249063709113,
|
| 20 |
+
177.22623031643226
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 2.094395102393186
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
728.4492856231348,
|
| 32 |
+
-1190.526830159558,
|
| 33 |
+
177.22623031643226
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 2.094395102393186
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
726.9492856231348,
|
| 45 |
+
-1187.9287539482045,
|
| 46 |
+
177.22623031643226
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 2.094395102393186
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
725.4492856231348,
|
| 58 |
+
-1185.3306777368512,
|
| 59 |
+
177.22623031643226
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 2.094395102393186
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
723.9492856231348,
|
| 71 |
+
-1182.7326015254978,
|
| 72 |
+
177.22623031643226
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 2.094395102393186
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
722.4492856231348,
|
| 84 |
+
-1180.1345253141444,
|
| 85 |
+
177.22623031643226
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 2.094395102393186
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
720.9492856231348,
|
| 97 |
+
-1177.536449102791,
|
| 98 |
+
177.22623031643226
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 2.094395102393186
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
719.4492856231348,
|
| 110 |
+
-1174.9383728914377,
|
| 111 |
+
177.22623031643226
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 2.094395102393186
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
717.9492856231348,
|
| 123 |
+
-1172.3402966800843,
|
| 124 |
+
177.22623031643226
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 2.094395102393186
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
716.4492856231348,
|
| 136 |
+
-1169.742220468731,
|
| 137 |
+
177.22623031643226
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 2.094395102393186
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
714.9492856231348,
|
| 149 |
+
-1167.1441442573775,
|
| 150 |
+
177.22623031643226
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": 2.094395102393186
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
713.4492856231348,
|
| 162 |
+
-1164.5460680460242,
|
| 163 |
+
177.22623031643226
|
| 164 |
+
],
|
| 165 |
+
"type": "turn right",
|
| 166 |
+
"value": 30,
|
| 167 |
+
"yaw": 2.094395102393186
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
713.4492856231348,
|
| 175 |
+
-1164.5460680460242,
|
| 176 |
+
177.22623031643226
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": 1.5707963267948872
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
713.4492856231348,
|
| 188 |
+
-1161.5460680460242,
|
| 189 |
+
177.22623031643226
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": 1.5707963267948966
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
713.4492856231348,
|
| 201 |
+
-1158.5460680460242,
|
| 202 |
+
177.22623031643226
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": 1.5707963267948966
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
713.4492856231348,
|
| 214 |
+
-1155.5460680460242,
|
| 215 |
+
177.22623031643226
|
| 216 |
+
],
|
| 217 |
+
"type": "stop",
|
| 218 |
+
"value": 0,
|
| 219 |
+
"yaw": 1.5707963267948966
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"aim_landmark": {
|
| 224 |
+
"color": "test",
|
| 225 |
+
"feature": "test",
|
| 226 |
+
"position": [
|
| 227 |
+
696.0,
|
| 228 |
+
-1108.0,
|
| 229 |
+
165.103
|
| 230 |
+
],
|
| 231 |
+
"shape": "test",
|
| 232 |
+
"dir": "center",
|
| 233 |
+
"size": "test",
|
| 234 |
+
"type": "building"
|
| 235 |
+
}
|
| 236 |
+
}
|
Image/env_airsim_sh/astar_data/high_short/2025-1-10_19-53-8_1010014811/pose.jsonl
ADDED
|
@@ -0,0 +1,145 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
865.7735371379417,
|
| 6 |
+
-1360.844912289572,
|
| 7 |
+
177.22623031643226
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 2.6179938779915037
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
863.1754609265884,
|
| 19 |
+
-1359.344912289572,
|
| 20 |
+
177.22623031643226
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 2.6179938779915037
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
860.577384715235,
|
| 32 |
+
-1357.844912289572,
|
| 33 |
+
177.22623031643226
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 2.6179938779915037
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
857.9793085038816,
|
| 45 |
+
-1356.344912289572,
|
| 46 |
+
177.22623031643226
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 2.6179938779915037
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
855.3812322925282,
|
| 58 |
+
-1354.844912289572,
|
| 59 |
+
177.22623031643226
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 2.6179938779915037
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
852.7831560811749,
|
| 71 |
+
-1353.344912289572,
|
| 72 |
+
177.22623031643226
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 2.6179938779915037
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
850.1850798698215,
|
| 84 |
+
-1351.844912289572,
|
| 85 |
+
177.22623031643226
|
| 86 |
+
],
|
| 87 |
+
"type": "turn right",
|
| 88 |
+
"value": 30,
|
| 89 |
+
"yaw": 2.6179938779915037
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
850.1850798698215,
|
| 97 |
+
-1351.844912289572,
|
| 98 |
+
177.22623031643226
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 2.094395102393205
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
848.6850798698215,
|
| 110 |
+
-1349.2468360782186,
|
| 111 |
+
177.22623031643226
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 2.094395102393186
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
847.1850798698215,
|
| 123 |
+
-1346.6487598668652,
|
| 124 |
+
177.22623031643226
|
| 125 |
+
],
|
| 126 |
+
"type": "stop",
|
| 127 |
+
"value": 0,
|
| 128 |
+
"yaw": 2.094395102393186
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"aim_landmark": {
|
| 133 |
+
"color": "test",
|
| 134 |
+
"feature": "test",
|
| 135 |
+
"position": [
|
| 136 |
+
800.0,
|
| 137 |
+
-1304.0,
|
| 138 |
+
163.632
|
| 139 |
+
],
|
| 140 |
+
"shape": "test",
|
| 141 |
+
"dir": "center",
|
| 142 |
+
"size": "test",
|
| 143 |
+
"type": "building"
|
| 144 |
+
}
|
| 145 |
+
}
|
Image/env_airsim_sh/astar_data/high_short/2025-1-10_19-55-46_542314107/pose.jsonl
ADDED
|
@@ -0,0 +1,275 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
161.63114330825601,
|
| 6 |
+
742.0042518625812,
|
| 7 |
+
177.22623031643226
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 2.6179938779914944
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
159.0330670969027,
|
| 19 |
+
743.5042518625812,
|
| 20 |
+
177.22623031643226
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 2.6179938779914944
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
156.43499088554938,
|
| 32 |
+
745.0042518625812,
|
| 33 |
+
177.22623031643226
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 2.6179938779914944
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
153.83691467419607,
|
| 45 |
+
746.5042518625812,
|
| 46 |
+
177.22623031643226
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 2.6179938779914944
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
151.23883846284275,
|
| 58 |
+
748.0042518625812,
|
| 59 |
+
177.22623031643226
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 2.6179938779914944
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
148.64076225148943,
|
| 71 |
+
749.5042518625812,
|
| 72 |
+
177.22623031643226
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 2.6179938779914944
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
146.04268604013612,
|
| 84 |
+
751.0042518625812,
|
| 85 |
+
177.22623031643226
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 2.6179938779914944
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
143.4446098287828,
|
| 97 |
+
752.5042518625812,
|
| 98 |
+
177.22623031643226
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 2.6179938779914944
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
140.8465336174295,
|
| 110 |
+
754.0042518625812,
|
| 111 |
+
177.22623031643226
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 2.6179938779914944
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
138.24845740607617,
|
| 123 |
+
755.5042518625812,
|
| 124 |
+
177.22623031643226
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 2.6179938779914944
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
135.65038119472285,
|
| 136 |
+
757.0042518625812,
|
| 137 |
+
177.22623031643226
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 2.6179938779914944
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
133.05230498336954,
|
| 149 |
+
758.5042518625812,
|
| 150 |
+
177.22623031643226
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": 2.6179938779914944
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
130.45422877201622,
|
| 162 |
+
760.0042518625812,
|
| 163 |
+
177.22623031643226
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": 2.6179938779914944
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
127.8561525606629,
|
| 175 |
+
761.5042518625812,
|
| 176 |
+
177.22623031643226
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": 2.6179938779914944
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
125.25807634930959,
|
| 188 |
+
763.0042518625812,
|
| 189 |
+
177.22623031643226
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": 2.6179938779914944
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
122.66000013795627,
|
| 201 |
+
764.5042518625812,
|
| 202 |
+
177.22623031643226
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": 2.6179938779914944
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
120.06192392660296,
|
| 214 |
+
766.0042518625812,
|
| 215 |
+
177.22623031643226
|
| 216 |
+
],
|
| 217 |
+
"type": "turn right",
|
| 218 |
+
"value": 30,
|
| 219 |
+
"yaw": 2.6179938779914944
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
120.06192392660296,
|
| 227 |
+
766.0042518625812,
|
| 228 |
+
177.22623031643226
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": 2.0943951023931957
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
118.56192392660296,
|
| 240 |
+
768.6023280739346,
|
| 241 |
+
177.22623031643226
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": 2.094395102393186
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
117.06192392660296,
|
| 253 |
+
771.200404285288,
|
| 254 |
+
177.22623031643226
|
| 255 |
+
],
|
| 256 |
+
"type": "stop",
|
| 257 |
+
"value": 0,
|
| 258 |
+
"yaw": 2.094395102393186
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"aim_landmark": {
|
| 263 |
+
"color": "test",
|
| 264 |
+
"feature": "test",
|
| 265 |
+
"position": [
|
| 266 |
+
84.0,
|
| 267 |
+
796.0,
|
| 268 |
+
203.339
|
| 269 |
+
],
|
| 270 |
+
"shape": "test",
|
| 271 |
+
"dir": "center",
|
| 272 |
+
"size": "test",
|
| 273 |
+
"type": "building"
|
| 274 |
+
}
|
| 275 |
+
}
|
Image/env_airsim_sh/astar_data/high_short/2025-1-10_19-57-12_217852623/pose.jsonl
ADDED
|
@@ -0,0 +1,171 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
355.23611421752184,
|
| 6 |
+
686.462567004711,
|
| 7 |
+
177.22623031643226
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 0.0
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
358.23611421752184,
|
| 19 |
+
686.462567004711,
|
| 20 |
+
177.22623031643226
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 0.0
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
361.23611421752184,
|
| 32 |
+
686.462567004711,
|
| 33 |
+
177.22623031643226
|
| 34 |
+
],
|
| 35 |
+
"type": "turn left",
|
| 36 |
+
"value": 30,
|
| 37 |
+
"yaw": 0.0
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
361.23611421752184,
|
| 45 |
+
686.462567004711,
|
| 46 |
+
177.22623031643226
|
| 47 |
+
],
|
| 48 |
+
"type": "turn left",
|
| 49 |
+
"value": 30,
|
| 50 |
+
"yaw": 0.5235987755982988
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
361.23611421752184,
|
| 58 |
+
686.462567004711,
|
| 59 |
+
177.22623031643226
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 1.0471975511965976
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
362.73611421752184,
|
| 71 |
+
689.0606432160644,
|
| 72 |
+
177.22623031643226
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 1.0471975511966072
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
364.23611421752184,
|
| 84 |
+
691.6587194274177,
|
| 85 |
+
177.22623031643226
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 1.0471975511966072
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
365.73611421752184,
|
| 97 |
+
694.2567956387711,
|
| 98 |
+
177.22623031643226
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 1.0471975511966072
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
367.23611421752184,
|
| 110 |
+
696.8548718501245,
|
| 111 |
+
177.22623031643226
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 1.0471975511966072
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
368.73611421752184,
|
| 123 |
+
699.4529480614779,
|
| 124 |
+
177.22623031643226
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 1.0471975511966072
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
370.23611421752184,
|
| 136 |
+
702.0510242728312,
|
| 137 |
+
177.22623031643226
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 1.0471975511966072
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
371.73611421752184,
|
| 149 |
+
704.6491004841846,
|
| 150 |
+
177.22623031643226
|
| 151 |
+
],
|
| 152 |
+
"type": "stop",
|
| 153 |
+
"value": 0,
|
| 154 |
+
"yaw": 1.0471975511966072
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"aim_landmark": {
|
| 159 |
+
"color": "test",
|
| 160 |
+
"feature": "test",
|
| 161 |
+
"position": [
|
| 162 |
+
400.0,
|
| 163 |
+
736.0,
|
| 164 |
+
172.46
|
| 165 |
+
],
|
| 166 |
+
"shape": "test",
|
| 167 |
+
"dir": "center",
|
| 168 |
+
"size": "test",
|
| 169 |
+
"type": "building"
|
| 170 |
+
}
|
| 171 |
+
}
|
Image/env_airsim_sh/astar_data/high_short/2025-1-10_20-20-9_162403134/pose.jsonl
ADDED
|
@@ -0,0 +1,340 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
267.66629799874755,
|
| 6 |
+
894.0728172618722,
|
| 7 |
+
177.22623031643226
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 0.0
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
270.66629799874755,
|
| 19 |
+
894.0728172618722,
|
| 20 |
+
177.22623031643226
|
| 21 |
+
],
|
| 22 |
+
"type": "turn right",
|
| 23 |
+
"value": 30,
|
| 24 |
+
"yaw": 0.0
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
270.66629799874755,
|
| 32 |
+
894.0728172618722,
|
| 33 |
+
177.22623031643226
|
| 34 |
+
],
|
| 35 |
+
"type": "turn right",
|
| 36 |
+
"value": 30,
|
| 37 |
+
"yaw": -0.5235987755982988
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
270.66629799874755,
|
| 45 |
+
894.0728172618722,
|
| 46 |
+
177.22623031643226
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": -1.0471975511965976
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
272.16629799874755,
|
| 58 |
+
891.4747410505188,
|
| 59 |
+
177.22623031643226
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": -1.0471975511966072
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
273.66629799874755,
|
| 71 |
+
888.8766648391654,
|
| 72 |
+
177.22623031643226
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": -1.0471975511966072
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
275.16629799874755,
|
| 84 |
+
886.278588627812,
|
| 85 |
+
177.22623031643226
|
| 86 |
+
],
|
| 87 |
+
"type": "turn left",
|
| 88 |
+
"value": 30,
|
| 89 |
+
"yaw": -1.0471975511966072
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
275.16629799874755,
|
| 97 |
+
886.278588627812,
|
| 98 |
+
177.22623031643226
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": -0.5235987755983084
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
277.76437421010087,
|
| 110 |
+
884.778588627812,
|
| 111 |
+
177.22623031643226
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": -0.5235987755982988
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
280.3624504214542,
|
| 123 |
+
883.278588627812,
|
| 124 |
+
177.22623031643226
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": -0.5235987755982988
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
282.9605266328075,
|
| 136 |
+
881.778588627812,
|
| 137 |
+
177.22623031643226
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": -0.5235987755982988
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
285.5586028441608,
|
| 149 |
+
880.278588627812,
|
| 150 |
+
177.22623031643226
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": -0.5235987755982988
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
288.15667905551413,
|
| 162 |
+
878.778588627812,
|
| 163 |
+
177.22623031643226
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": -0.5235987755982988
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
290.75475526686745,
|
| 175 |
+
877.278588627812,
|
| 176 |
+
177.22623031643226
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": -0.5235987755982988
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
293.35283147822076,
|
| 188 |
+
875.778588627812,
|
| 189 |
+
177.22623031643226
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": -0.5235987755982988
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
295.9509076895741,
|
| 201 |
+
874.278588627812,
|
| 202 |
+
177.22623031643226
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": -0.5235987755982988
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
298.5489839009274,
|
| 214 |
+
872.778588627812,
|
| 215 |
+
177.22623031643226
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": -0.5235987755982988
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
301.1470601122807,
|
| 227 |
+
871.278588627812,
|
| 228 |
+
177.22623031643226
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": -0.5235987755982988
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
303.74513632363403,
|
| 240 |
+
869.778588627812,
|
| 241 |
+
177.22623031643226
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": -0.5235987755982988
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
306.34321253498734,
|
| 253 |
+
868.278588627812,
|
| 254 |
+
177.22623031643226
|
| 255 |
+
],
|
| 256 |
+
"type": "go straight",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": -0.5235987755982988
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
308.94128874634066,
|
| 266 |
+
866.778588627812,
|
| 267 |
+
177.22623031643226
|
| 268 |
+
],
|
| 269 |
+
"type": "go straight",
|
| 270 |
+
"value": 3,
|
| 271 |
+
"yaw": -0.5235987755982988
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
311.539364957694,
|
| 279 |
+
865.278588627812,
|
| 280 |
+
177.22623031643226
|
| 281 |
+
],
|
| 282 |
+
"type": "go straight",
|
| 283 |
+
"value": 3,
|
| 284 |
+
"yaw": -0.5235987755982988
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"action": {
|
| 289 |
+
"imageid": 22,
|
| 290 |
+
"pos": [
|
| 291 |
+
314.1374411690473,
|
| 292 |
+
863.778588627812,
|
| 293 |
+
177.22623031643226
|
| 294 |
+
],
|
| 295 |
+
"type": "go straight",
|
| 296 |
+
"value": 3,
|
| 297 |
+
"yaw": -0.5235987755982988
|
| 298 |
+
}
|
| 299 |
+
}
|
| 300 |
+
{
|
| 301 |
+
"action": {
|
| 302 |
+
"imageid": 23,
|
| 303 |
+
"pos": [
|
| 304 |
+
316.7355173804006,
|
| 305 |
+
862.278588627812,
|
| 306 |
+
177.22623031643226
|
| 307 |
+
],
|
| 308 |
+
"type": "go straight",
|
| 309 |
+
"value": 3,
|
| 310 |
+
"yaw": -0.5235987755982988
|
| 311 |
+
}
|
| 312 |
+
}
|
| 313 |
+
{
|
| 314 |
+
"action": {
|
| 315 |
+
"imageid": 24,
|
| 316 |
+
"pos": [
|
| 317 |
+
319.3335935917539,
|
| 318 |
+
860.778588627812,
|
| 319 |
+
177.22623031643226
|
| 320 |
+
],
|
| 321 |
+
"type": "stop",
|
| 322 |
+
"value": 0,
|
| 323 |
+
"yaw": -0.5235987755982988
|
| 324 |
+
}
|
| 325 |
+
}
|
| 326 |
+
{
|
| 327 |
+
"aim_landmark": {
|
| 328 |
+
"color": "test",
|
| 329 |
+
"feature": "test",
|
| 330 |
+
"position": [
|
| 331 |
+
344.0,
|
| 332 |
+
848.0,
|
| 333 |
+
180.724
|
| 334 |
+
],
|
| 335 |
+
"shape": "test",
|
| 336 |
+
"dir": "center",
|
| 337 |
+
"size": "test",
|
| 338 |
+
"type": "building"
|
| 339 |
+
}
|
| 340 |
+
}
|
Image/env_airsim_sh/astar_data/high_short/2025-1-10_20-21-40_1945891638/pose.jsonl
ADDED
|
@@ -0,0 +1,327 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
474.17010594783756,
|
| 6 |
+
987.7545386716134,
|
| 7 |
+
177.22623031643226
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": -1.5707963267948966
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
474.17010594783756,
|
| 19 |
+
984.7545386716134,
|
| 20 |
+
177.22623031643226
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": -1.5707963267948966
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
474.17010594783756,
|
| 32 |
+
981.7545386716134,
|
| 33 |
+
177.22623031643226
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": -1.5707963267948966
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
474.17010594783756,
|
| 45 |
+
978.7545386716134,
|
| 46 |
+
177.22623031643226
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": -1.5707963267948966
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
474.17010594783756,
|
| 58 |
+
975.7545386716134,
|
| 59 |
+
177.22623031643226
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": -1.5707963267948966
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
474.17010594783756,
|
| 71 |
+
972.7545386716134,
|
| 72 |
+
177.22623031643226
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": -1.5707963267948966
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
474.17010594783756,
|
| 84 |
+
969.7545386716134,
|
| 85 |
+
177.22623031643226
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": -1.5707963267948966
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
474.17010594783756,
|
| 97 |
+
966.7545386716134,
|
| 98 |
+
177.22623031643226
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": -1.5707963267948966
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
474.17010594783756,
|
| 110 |
+
963.7545386716134,
|
| 111 |
+
177.22623031643226
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": -1.5707963267948966
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
474.17010594783756,
|
| 123 |
+
960.7545386716134,
|
| 124 |
+
177.22623031643226
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": -1.5707963267948966
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
474.17010594783756,
|
| 136 |
+
957.7545386716134,
|
| 137 |
+
177.22623031643226
|
| 138 |
+
],
|
| 139 |
+
"type": "turn right",
|
| 140 |
+
"value": 30,
|
| 141 |
+
"yaw": -1.5707963267948966
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
474.17010594783756,
|
| 149 |
+
957.7545386716134,
|
| 150 |
+
177.22623031643226
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": -2.0943951023931953
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
472.67010594783756,
|
| 162 |
+
955.1564624602602,
|
| 163 |
+
177.22623031643226
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": -2.094395102393205
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
471.17010594783756,
|
| 175 |
+
952.5583862489068,
|
| 176 |
+
177.22623031643226
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": -2.094395102393186
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
469.67010594783756,
|
| 188 |
+
949.9603100375534,
|
| 189 |
+
177.22623031643226
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": -2.094395102393186
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
468.17010594783756,
|
| 201 |
+
947.3622338262,
|
| 202 |
+
177.22623031643226
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": -2.094395102393186
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
466.67010594783756,
|
| 214 |
+
944.7641576148467,
|
| 215 |
+
177.22623031643226
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": -2.094395102393186
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
465.17010594783756,
|
| 227 |
+
942.1660814034933,
|
| 228 |
+
177.22623031643226
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": -2.094395102393186
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
463.67010594783756,
|
| 240 |
+
939.5680051921399,
|
| 241 |
+
177.22623031643226
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": -2.094395102393186
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
462.17010594783756,
|
| 253 |
+
936.9699289807866,
|
| 254 |
+
177.22623031643226
|
| 255 |
+
],
|
| 256 |
+
"type": "go straight",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": -2.094395102393186
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
460.67010594783756,
|
| 266 |
+
934.3718527694332,
|
| 267 |
+
177.22623031643226
|
| 268 |
+
],
|
| 269 |
+
"type": "go straight",
|
| 270 |
+
"value": 3,
|
| 271 |
+
"yaw": -2.094395102393186
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
459.17010594783756,
|
| 279 |
+
931.7737765580798,
|
| 280 |
+
177.22623031643226
|
| 281 |
+
],
|
| 282 |
+
"type": "go straight",
|
| 283 |
+
"value": 3,
|
| 284 |
+
"yaw": -2.094395102393186
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"action": {
|
| 289 |
+
"imageid": 22,
|
| 290 |
+
"pos": [
|
| 291 |
+
457.67010594783756,
|
| 292 |
+
929.1757003467264,
|
| 293 |
+
177.22623031643226
|
| 294 |
+
],
|
| 295 |
+
"type": "go straight",
|
| 296 |
+
"value": 3,
|
| 297 |
+
"yaw": -2.094395102393186
|
| 298 |
+
}
|
| 299 |
+
}
|
| 300 |
+
{
|
| 301 |
+
"action": {
|
| 302 |
+
"imageid": 23,
|
| 303 |
+
"pos": [
|
| 304 |
+
456.17010594783756,
|
| 305 |
+
926.5776241353731,
|
| 306 |
+
177.22623031643226
|
| 307 |
+
],
|
| 308 |
+
"type": "stop",
|
| 309 |
+
"value": 0,
|
| 310 |
+
"yaw": -2.094395102393186
|
| 311 |
+
}
|
| 312 |
+
}
|
| 313 |
+
{
|
| 314 |
+
"aim_landmark": {
|
| 315 |
+
"color": "test",
|
| 316 |
+
"feature": "test",
|
| 317 |
+
"position": [
|
| 318 |
+
452.0,
|
| 319 |
+
904.0,
|
| 320 |
+
171.245
|
| 321 |
+
],
|
| 322 |
+
"shape": "test",
|
| 323 |
+
"dir": "center",
|
| 324 |
+
"size": "test",
|
| 325 |
+
"type": "building"
|
| 326 |
+
}
|
| 327 |
+
}
|
Image/env_airsim_sh/astar_data/high_short/2025-1-10_20-22-42_1064651899/pose.jsonl
ADDED
|
@@ -0,0 +1,366 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
22.93913549542826,
|
| 6 |
+
-105.198321386515,
|
| 7 |
+
177.22623031643226
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 2.0943951023931953
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
21.43913549542826,
|
| 19 |
+
-102.60024517516169,
|
| 20 |
+
177.22623031643226
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 2.0943951023931953
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
19.93913549542826,
|
| 32 |
+
-100.00216896380837,
|
| 33 |
+
177.22623031643226
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 2.0943951023931953
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
18.43913549542826,
|
| 45 |
+
-97.40409275245506,
|
| 46 |
+
177.22623031643226
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 2.0943951023931953
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
16.93913549542826,
|
| 58 |
+
-94.80601654110174,
|
| 59 |
+
177.22623031643226
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 2.0943951023931953
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
15.43913549542826,
|
| 71 |
+
-92.20794032974842,
|
| 72 |
+
177.22623031643226
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 2.0943951023931953
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
13.93913549542826,
|
| 84 |
+
-89.60986411839511,
|
| 85 |
+
177.22623031643226
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 2.0943951023931953
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
12.43913549542826,
|
| 97 |
+
-87.01178790704179,
|
| 98 |
+
177.22623031643226
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 2.0943951023931953
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
10.93913549542826,
|
| 110 |
+
-84.41371169568848,
|
| 111 |
+
177.22623031643226
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 2.0943951023931953
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
9.43913549542826,
|
| 123 |
+
-81.81563548433516,
|
| 124 |
+
177.22623031643226
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 2.0943951023931953
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
7.939135495428261,
|
| 136 |
+
-79.21755927298184,
|
| 137 |
+
177.22623031643226
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 2.0943951023931953
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
6.439135495428262,
|
| 149 |
+
-76.61948306162853,
|
| 150 |
+
177.22623031643226
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": 2.0943951023931953
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
4.939135495428263,
|
| 162 |
+
-74.02140685027521,
|
| 163 |
+
177.22623031643226
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": 2.0943951023931953
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
3.439135495428264,
|
| 175 |
+
-71.4233306389219,
|
| 176 |
+
177.22623031643226
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": 2.0943951023931953
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
1.9391354954282647,
|
| 188 |
+
-68.82525442756858,
|
| 189 |
+
177.22623031643226
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": 2.0943951023931953
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
0.43913549542826535,
|
| 201 |
+
-66.22717821621526,
|
| 202 |
+
177.22623031643226
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": 2.0943951023931953
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
-1.060864504571734,
|
| 214 |
+
-63.62910200486195,
|
| 215 |
+
177.22623031643226
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": 2.0943951023931953
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
-2.5608645045717333,
|
| 227 |
+
-61.03102579350863,
|
| 228 |
+
177.22623031643226
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": 2.0943951023931953
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
-4.060864504571732,
|
| 240 |
+
-58.43294958215532,
|
| 241 |
+
177.22623031643226
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": 2.0943951023931953
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
-5.5608645045717315,
|
| 253 |
+
-55.834873370802,
|
| 254 |
+
177.22623031643226
|
| 255 |
+
],
|
| 256 |
+
"type": "turn left",
|
| 257 |
+
"value": 30,
|
| 258 |
+
"yaw": 2.0943951023931953
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
-5.5608645045717315,
|
| 266 |
+
-55.834873370802,
|
| 267 |
+
177.22623031643226
|
| 268 |
+
],
|
| 269 |
+
"type": "go straight",
|
| 270 |
+
"value": 3,
|
| 271 |
+
"yaw": 2.617993877991494
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
-8.158940715925048,
|
| 279 |
+
-54.334873370802,
|
| 280 |
+
177.22623031643226
|
| 281 |
+
],
|
| 282 |
+
"type": "go straight",
|
| 283 |
+
"value": 3,
|
| 284 |
+
"yaw": 2.6179938779914944
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"action": {
|
| 289 |
+
"imageid": 22,
|
| 290 |
+
"pos": [
|
| 291 |
+
-10.757016927278364,
|
| 292 |
+
-52.834873370802,
|
| 293 |
+
177.22623031643226
|
| 294 |
+
],
|
| 295 |
+
"type": "go straight",
|
| 296 |
+
"value": 3,
|
| 297 |
+
"yaw": 2.6179938779914944
|
| 298 |
+
}
|
| 299 |
+
}
|
| 300 |
+
{
|
| 301 |
+
"action": {
|
| 302 |
+
"imageid": 23,
|
| 303 |
+
"pos": [
|
| 304 |
+
-13.35509313863168,
|
| 305 |
+
-51.334873370802,
|
| 306 |
+
177.22623031643226
|
| 307 |
+
],
|
| 308 |
+
"type": "go straight",
|
| 309 |
+
"value": 3,
|
| 310 |
+
"yaw": 2.6179938779914944
|
| 311 |
+
}
|
| 312 |
+
}
|
| 313 |
+
{
|
| 314 |
+
"action": {
|
| 315 |
+
"imageid": 24,
|
| 316 |
+
"pos": [
|
| 317 |
+
-15.953169349984996,
|
| 318 |
+
-49.834873370802,
|
| 319 |
+
177.22623031643226
|
| 320 |
+
],
|
| 321 |
+
"type": "go straight",
|
| 322 |
+
"value": 3,
|
| 323 |
+
"yaw": 2.6179938779914944
|
| 324 |
+
}
|
| 325 |
+
}
|
| 326 |
+
{
|
| 327 |
+
"action": {
|
| 328 |
+
"imageid": 25,
|
| 329 |
+
"pos": [
|
| 330 |
+
-18.551245561338312,
|
| 331 |
+
-48.334873370802,
|
| 332 |
+
177.22623031643226
|
| 333 |
+
],
|
| 334 |
+
"type": "go straight",
|
| 335 |
+
"value": 3,
|
| 336 |
+
"yaw": 2.6179938779914944
|
| 337 |
+
}
|
| 338 |
+
}
|
| 339 |
+
{
|
| 340 |
+
"action": {
|
| 341 |
+
"imageid": 26,
|
| 342 |
+
"pos": [
|
| 343 |
+
-21.14932177269163,
|
| 344 |
+
-46.834873370802,
|
| 345 |
+
177.22623031643226
|
| 346 |
+
],
|
| 347 |
+
"type": "stop",
|
| 348 |
+
"value": 0,
|
| 349 |
+
"yaw": 2.6179938779914944
|
| 350 |
+
}
|
| 351 |
+
}
|
| 352 |
+
{
|
| 353 |
+
"aim_landmark": {
|
| 354 |
+
"color": "test",
|
| 355 |
+
"feature": "test",
|
| 356 |
+
"position": [
|
| 357 |
+
-36.0,
|
| 358 |
+
-28.0,
|
| 359 |
+
212.257
|
| 360 |
+
],
|
| 361 |
+
"shape": "test",
|
| 362 |
+
"dir": "center",
|
| 363 |
+
"size": "test",
|
| 364 |
+
"type": "building"
|
| 365 |
+
}
|
| 366 |
+
}
|
Image/env_airsim_sh/astar_data/high_short/2025-1-10_20-31-2_2026478004/pose.jsonl
ADDED
|
@@ -0,0 +1,54 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
-246.90887857903036,
|
| 6 |
+
696.6889811983324,
|
| 7 |
+
177.22623031643226
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 2.094395102393186
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
-248.40887857903036,
|
| 19 |
+
699.2870574096858,
|
| 20 |
+
177.22623031643226
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 2.094395102393186
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
-249.90887857903036,
|
| 32 |
+
701.8851336210391,
|
| 33 |
+
177.22623031643226
|
| 34 |
+
],
|
| 35 |
+
"type": "stop",
|
| 36 |
+
"value": 0,
|
| 37 |
+
"yaw": 2.094395102393186
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"aim_landmark": {
|
| 42 |
+
"color": "test",
|
| 43 |
+
"feature": "test",
|
| 44 |
+
"position": [
|
| 45 |
+
-272.0,
|
| 46 |
+
780.0,
|
| 47 |
+
338.618
|
| 48 |
+
],
|
| 49 |
+
"shape": "test",
|
| 50 |
+
"dir": "center",
|
| 51 |
+
"size": "test",
|
| 52 |
+
"type": "building"
|
| 53 |
+
}
|
| 54 |
+
}
|
Image/env_airsim_sh/astar_data/high_short/2025-1-10_20-36-5_701943705/pose.jsonl
ADDED
|
@@ -0,0 +1,236 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
617.8499659965395,
|
| 6 |
+
969.8993739635761,
|
| 7 |
+
177.22623031643226
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": -2.617993877991485
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
615.2518897851862,
|
| 19 |
+
968.3993739635761,
|
| 20 |
+
177.22623031643226
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": -2.617993877991485
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
612.6538135738328,
|
| 32 |
+
966.8993739635761,
|
| 33 |
+
177.22623031643226
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": -2.6179938779915037
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
610.0557373624795,
|
| 45 |
+
965.3993739635761,
|
| 46 |
+
177.22623031643226
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": -2.6179938779915037
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
607.4576611511261,
|
| 58 |
+
963.8993739635761,
|
| 59 |
+
177.22623031643226
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": -2.6179938779915037
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
604.8595849397727,
|
| 71 |
+
962.3993739635761,
|
| 72 |
+
177.22623031643226
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": -2.6179938779915037
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
602.2615087284194,
|
| 84 |
+
960.8993739635761,
|
| 85 |
+
177.22623031643226
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": -2.6179938779915037
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
599.663432517066,
|
| 97 |
+
959.3993739635761,
|
| 98 |
+
177.22623031643226
|
| 99 |
+
],
|
| 100 |
+
"type": "turn left",
|
| 101 |
+
"value": 30,
|
| 102 |
+
"yaw": -2.6179938779915037
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
599.663432517066,
|
| 110 |
+
959.3993739635761,
|
| 111 |
+
177.22623031643226
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": -2.094395102393205
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
598.163432517066,
|
| 123 |
+
956.8012977522228,
|
| 124 |
+
177.22623031643226
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": -2.094395102393205
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
596.663432517066,
|
| 136 |
+
954.2032215408694,
|
| 137 |
+
177.22623031643226
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": -2.094395102393186
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
595.163432517066,
|
| 149 |
+
951.6051453295161,
|
| 150 |
+
177.22623031643226
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": -2.094395102393186
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
593.663432517066,
|
| 162 |
+
949.0070691181627,
|
| 163 |
+
177.22623031643226
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": -2.094395102393186
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
592.163432517066,
|
| 175 |
+
946.4089929068093,
|
| 176 |
+
177.22623031643226
|
| 177 |
+
],
|
| 178 |
+
"type": "turn right",
|
| 179 |
+
"value": 30,
|
| 180 |
+
"yaw": -2.094395102393186
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
592.163432517066,
|
| 188 |
+
946.4089929068093,
|
| 189 |
+
177.22623031643226
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": -2.6179938779914846
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
589.5653563057126,
|
| 201 |
+
944.9089929068093,
|
| 202 |
+
177.22623031643226
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": -2.6179938779915037
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
586.9672800943592,
|
| 214 |
+
943.4089929068093,
|
| 215 |
+
177.22623031643226
|
| 216 |
+
],
|
| 217 |
+
"type": "stop",
|
| 218 |
+
"value": 0,
|
| 219 |
+
"yaw": -2.6179938779915037
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"aim_landmark": {
|
| 224 |
+
"color": "test",
|
| 225 |
+
"feature": "test",
|
| 226 |
+
"position": [
|
| 227 |
+
560.0,
|
| 228 |
+
920.0,
|
| 229 |
+
216.131
|
| 230 |
+
],
|
| 231 |
+
"shape": "test",
|
| 232 |
+
"dir": "center",
|
| 233 |
+
"size": "test",
|
| 234 |
+
"type": "building"
|
| 235 |
+
}
|
| 236 |
+
}
|
Image/env_airsim_sh/astar_data/high_short/2025-1-10_20-46-43_1215387142/pose.jsonl
ADDED
|
@@ -0,0 +1,314 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
-18.877810116072954,
|
| 6 |
+
-102.41838988153124,
|
| 7 |
+
177.22623031643226
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 2.6179938779914944
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
-21.47588632742627,
|
| 19 |
+
-100.91838988153124,
|
| 20 |
+
177.22623031643226
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 2.6179938779914944
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
-24.073962538779586,
|
| 32 |
+
-99.41838988153124,
|
| 33 |
+
177.22623031643226
|
| 34 |
+
],
|
| 35 |
+
"type": "turn right",
|
| 36 |
+
"value": 30,
|
| 37 |
+
"yaw": 2.6179938779914944
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
-24.073962538779586,
|
| 45 |
+
-99.41838988153124,
|
| 46 |
+
177.22623031643226
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 2.0943951023931957
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
-25.573962538779586,
|
| 58 |
+
-96.82031367017792,
|
| 59 |
+
177.22623031643226
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 2.0943951023931953
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
-27.073962538779586,
|
| 71 |
+
-94.22223745882461,
|
| 72 |
+
177.22623031643226
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 2.0943951023931953
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
-28.573962538779586,
|
| 84 |
+
-91.62416124747129,
|
| 85 |
+
177.22623031643226
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 2.0943951023931953
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
-30.073962538779586,
|
| 97 |
+
-89.02608503611798,
|
| 98 |
+
177.22623031643226
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 2.0943951023931953
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
-31.573962538779586,
|
| 110 |
+
-86.42800882476466,
|
| 111 |
+
177.22623031643226
|
| 112 |
+
],
|
| 113 |
+
"type": "turn right",
|
| 114 |
+
"value": 30,
|
| 115 |
+
"yaw": 2.0943951023931953
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
-31.573962538779586,
|
| 123 |
+
-86.42800882476466,
|
| 124 |
+
177.22623031643226
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 1.5707963267948966
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
-31.573962538779586,
|
| 136 |
+
-83.42800882476466,
|
| 137 |
+
177.22623031643226
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 1.5707963267948966
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
-31.573962538779586,
|
| 149 |
+
-80.42800882476466,
|
| 150 |
+
177.22623031643226
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": 1.5707963267948966
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
-31.573962538779586,
|
| 162 |
+
-77.42800882476466,
|
| 163 |
+
177.22623031643226
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": 1.5707963267948966
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
-31.573962538779586,
|
| 175 |
+
-74.42800882476466,
|
| 176 |
+
177.22623031643226
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": 1.5707963267948966
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
-31.573962538779586,
|
| 188 |
+
-71.42800882476466,
|
| 189 |
+
177.22623031643226
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": 1.5707963267948966
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
-31.573962538779586,
|
| 201 |
+
-68.42800882476466,
|
| 202 |
+
177.22623031643226
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": 1.5707963267948966
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
-31.573962538779586,
|
| 214 |
+
-65.42800882476466,
|
| 215 |
+
177.22623031643226
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": 1.5707963267948966
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
-31.573962538779586,
|
| 227 |
+
-62.42800882476466,
|
| 228 |
+
177.22623031643226
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": 1.5707963267948966
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
-31.573962538779586,
|
| 240 |
+
-59.42800882476466,
|
| 241 |
+
177.22623031643226
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": 1.5707963267948966
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
-31.573962538779586,
|
| 253 |
+
-56.42800882476466,
|
| 254 |
+
177.22623031643226
|
| 255 |
+
],
|
| 256 |
+
"type": "go straight",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": 1.5707963267948966
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
-31.573962538779586,
|
| 266 |
+
-53.42800882476466,
|
| 267 |
+
177.22623031643226
|
| 268 |
+
],
|
| 269 |
+
"type": "go straight",
|
| 270 |
+
"value": 3,
|
| 271 |
+
"yaw": 1.5707963267948966
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
-31.573962538779586,
|
| 279 |
+
-50.42800882476466,
|
| 280 |
+
177.22623031643226
|
| 281 |
+
],
|
| 282 |
+
"type": "go straight",
|
| 283 |
+
"value": 3,
|
| 284 |
+
"yaw": 1.5707963267948966
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"action": {
|
| 289 |
+
"imageid": 22,
|
| 290 |
+
"pos": [
|
| 291 |
+
-31.573962538779586,
|
| 292 |
+
-47.42800882476466,
|
| 293 |
+
177.22623031643226
|
| 294 |
+
],
|
| 295 |
+
"type": "stop",
|
| 296 |
+
"value": 0,
|
| 297 |
+
"yaw": 1.5707963267948966
|
| 298 |
+
}
|
| 299 |
+
}
|
| 300 |
+
{
|
| 301 |
+
"aim_landmark": {
|
| 302 |
+
"color": "test",
|
| 303 |
+
"feature": "test",
|
| 304 |
+
"position": [
|
| 305 |
+
-36.0,
|
| 306 |
+
-28.0,
|
| 307 |
+
212.257
|
| 308 |
+
],
|
| 309 |
+
"shape": "test",
|
| 310 |
+
"dir": "center",
|
| 311 |
+
"size": "test",
|
| 312 |
+
"type": "building"
|
| 313 |
+
}
|
| 314 |
+
}
|
Image/env_airsim_sh/astar_data/high_short/2025-1-10_20-47-0_364531492/pose.jsonl
ADDED
|
@@ -0,0 +1,106 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
645.940627319371,
|
| 6 |
+
36.406450718266285,
|
| 7 |
+
177.22623031643226
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 2.617993877991485
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
643.3425511080177,
|
| 19 |
+
37.906450718266285,
|
| 20 |
+
177.22623031643226
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 2.617993877991485
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
640.7444748966643,
|
| 32 |
+
39.406450718266285,
|
| 33 |
+
177.22623031643226
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 2.6179938779915037
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
638.1463986853109,
|
| 45 |
+
40.906450718266285,
|
| 46 |
+
177.22623031643226
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 2.6179938779915037
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
635.5483224739576,
|
| 58 |
+
42.406450718266285,
|
| 59 |
+
177.22623031643226
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 2.6179938779915037
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
632.9502462626042,
|
| 71 |
+
43.906450718266285,
|
| 72 |
+
177.22623031643226
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 2.6179938779915037
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
630.3521700512508,
|
| 84 |
+
45.406450718266285,
|
| 85 |
+
177.22623031643226
|
| 86 |
+
],
|
| 87 |
+
"type": "stop",
|
| 88 |
+
"value": 0,
|
| 89 |
+
"yaw": 2.6179938779915037
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"aim_landmark": {
|
| 94 |
+
"color": "test",
|
| 95 |
+
"feature": "test",
|
| 96 |
+
"position": [
|
| 97 |
+
576.0,
|
| 98 |
+
68.0,
|
| 99 |
+
235.931
|
| 100 |
+
],
|
| 101 |
+
"shape": "test",
|
| 102 |
+
"dir": "center",
|
| 103 |
+
"size": "test",
|
| 104 |
+
"type": "building"
|
| 105 |
+
}
|
| 106 |
+
}
|
Image/env_airsim_sh/astar_data/high_short/2025-1-10_20-56-0_1767125139/pose.jsonl
ADDED
|
@@ -0,0 +1,236 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
595.9073721235255,
|
| 6 |
+
-10.606506572350796,
|
| 7 |
+
177.22623031643226
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 1.5707963267948966
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
595.9073721235255,
|
| 19 |
+
-7.606506572350796,
|
| 20 |
+
177.22623031643226
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 1.5707963267948966
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
595.9073721235255,
|
| 32 |
+
-4.606506572350796,
|
| 33 |
+
177.22623031643226
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 1.5707963267948966
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
595.9073721235255,
|
| 45 |
+
-1.6065065723507956,
|
| 46 |
+
177.22623031643226
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 1.5707963267948966
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
595.9073721235255,
|
| 58 |
+
1.3934934276492044,
|
| 59 |
+
177.22623031643226
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 1.5707963267948966
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
595.9073721235255,
|
| 71 |
+
4.393493427649204,
|
| 72 |
+
177.22623031643226
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 1.5707963267948966
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
595.9073721235255,
|
| 84 |
+
7.393493427649204,
|
| 85 |
+
177.22623031643226
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 1.5707963267948966
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
595.9073721235255,
|
| 97 |
+
10.393493427649204,
|
| 98 |
+
177.22623031643226
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 1.5707963267948966
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
595.9073721235255,
|
| 110 |
+
13.393493427649204,
|
| 111 |
+
177.22623031643226
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 1.5707963267948966
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
595.9073721235255,
|
| 123 |
+
16.393493427649204,
|
| 124 |
+
177.22623031643226
|
| 125 |
+
],
|
| 126 |
+
"type": "turn left",
|
| 127 |
+
"value": 30,
|
| 128 |
+
"yaw": 1.5707963267948966
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
595.9073721235255,
|
| 136 |
+
16.393493427649204,
|
| 137 |
+
177.22623031643226
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 2.0943951023931953
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
594.4073721235255,
|
| 149 |
+
18.99156963900252,
|
| 150 |
+
177.22623031643226
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": 2.0943951023931953
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
592.9073721235255,
|
| 162 |
+
21.589645850355836,
|
| 163 |
+
177.22623031643226
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": 2.0943951023931953
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
591.4073721235255,
|
| 175 |
+
24.187722061709152,
|
| 176 |
+
177.22623031643226
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": 2.0943951023931953
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
589.9073721235255,
|
| 188 |
+
26.78579827306247,
|
| 189 |
+
177.22623031643226
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": 2.0943951023931953
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
588.4073721235255,
|
| 201 |
+
29.383874484415784,
|
| 202 |
+
177.22623031643226
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": 2.0943951023931953
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
586.9073721235255,
|
| 214 |
+
31.9819506957691,
|
| 215 |
+
177.22623031643226
|
| 216 |
+
],
|
| 217 |
+
"type": "stop",
|
| 218 |
+
"value": 0,
|
| 219 |
+
"yaw": 2.0943951023931953
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"aim_landmark": {
|
| 224 |
+
"color": "test",
|
| 225 |
+
"feature": "test",
|
| 226 |
+
"position": [
|
| 227 |
+
576.0,
|
| 228 |
+
68.0,
|
| 229 |
+
235.931
|
| 230 |
+
],
|
| 231 |
+
"shape": "test",
|
| 232 |
+
"dir": "center",
|
| 233 |
+
"size": "test",
|
| 234 |
+
"type": "building"
|
| 235 |
+
}
|
| 236 |
+
}
|
Image/env_airsim_sh/astar_data/high_short/2025-1-10_21-10-20_1683213486/pose.jsonl
ADDED
|
@@ -0,0 +1,275 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
953.7202978903839,
|
| 6 |
+
-1633.348018823127,
|
| 7 |
+
177.22623031643226
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": -2.617993877991485
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
951.1222216790306,
|
| 19 |
+
-1634.848018823127,
|
| 20 |
+
177.22623031643226
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": -2.617993877991485
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
948.5241454676773,
|
| 32 |
+
-1636.348018823127,
|
| 33 |
+
177.22623031643226
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": -2.6179938779915037
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
945.9260692563239,
|
| 45 |
+
-1637.848018823127,
|
| 46 |
+
177.22623031643226
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": -2.6179938779915037
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
943.3279930449705,
|
| 58 |
+
-1639.348018823127,
|
| 59 |
+
177.22623031643226
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": -2.6179938779915037
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
940.7299168336172,
|
| 71 |
+
-1640.848018823127,
|
| 72 |
+
177.22623031643226
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": -2.6179938779915037
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
938.1318406222638,
|
| 84 |
+
-1642.348018823127,
|
| 85 |
+
177.22623031643226
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": -2.6179938779915037
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
935.5337644109104,
|
| 97 |
+
-1643.848018823127,
|
| 98 |
+
177.22623031643226
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": -2.6179938779915037
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
932.935688199557,
|
| 110 |
+
-1645.348018823127,
|
| 111 |
+
177.22623031643226
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": -2.6179938779915037
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
930.3376119882037,
|
| 123 |
+
-1646.848018823127,
|
| 124 |
+
177.22623031643226
|
| 125 |
+
],
|
| 126 |
+
"type": "turn left",
|
| 127 |
+
"value": 30,
|
| 128 |
+
"yaw": -2.6179938779915037
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
930.3376119882037,
|
| 136 |
+
-1646.848018823127,
|
| 137 |
+
177.22623031643226
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": -2.094395102393205
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
928.8376119882037,
|
| 149 |
+
-1649.4460950344803,
|
| 150 |
+
177.22623031643226
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": -2.094395102393186
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
927.3376119882037,
|
| 162 |
+
-1652.0441712458337,
|
| 163 |
+
177.22623031643226
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": -2.094395102393186
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
925.8376119882037,
|
| 175 |
+
-1654.642247457187,
|
| 176 |
+
177.22623031643226
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": -2.094395102393186
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
924.3376119882037,
|
| 188 |
+
-1657.2403236685404,
|
| 189 |
+
177.22623031643226
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": -2.094395102393186
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
922.8376119882037,
|
| 201 |
+
-1659.8383998798938,
|
| 202 |
+
177.22623031643226
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": -2.094395102393186
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
921.3376119882037,
|
| 214 |
+
-1662.4364760912472,
|
| 215 |
+
177.22623031643226
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": -2.094395102393186
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
919.8376119882037,
|
| 227 |
+
-1665.0345523026006,
|
| 228 |
+
177.22623031643226
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": -2.094395102393186
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
918.3376119882037,
|
| 240 |
+
-1667.632628513954,
|
| 241 |
+
177.22623031643226
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": -2.094395102393186
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
916.8376119882037,
|
| 253 |
+
-1670.2307047253073,
|
| 254 |
+
177.22623031643226
|
| 255 |
+
],
|
| 256 |
+
"type": "stop",
|
| 257 |
+
"value": 0,
|
| 258 |
+
"yaw": -2.094395102393186
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"aim_landmark": {
|
| 263 |
+
"color": "test",
|
| 264 |
+
"feature": "test",
|
| 265 |
+
"position": [
|
| 266 |
+
896.0,
|
| 267 |
+
-1688.0,
|
| 268 |
+
168.713
|
| 269 |
+
],
|
| 270 |
+
"shape": "test",
|
| 271 |
+
"dir": "right",
|
| 272 |
+
"size": "test",
|
| 273 |
+
"type": "building"
|
| 274 |
+
}
|
| 275 |
+
}
|
Image/env_airsim_sh/astar_data/high_short/2025-1-10_21-17-27_1084384795/pose.jsonl
ADDED
|
@@ -0,0 +1,210 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
679.8274333787658,
|
| 6 |
+
-1021.0574827194354,
|
| 7 |
+
177.22623031643226
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": -1.5707963267948966
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
679.8274333787658,
|
| 19 |
+
-1024.0574827194355,
|
| 20 |
+
177.22623031643226
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": -1.5707963267948966
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
679.8274333787658,
|
| 32 |
+
-1027.0574827194355,
|
| 33 |
+
177.22623031643226
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": -1.5707963267948966
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
679.8274333787658,
|
| 45 |
+
-1030.0574827194355,
|
| 46 |
+
177.22623031643226
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": -1.5707963267948966
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
679.8274333787658,
|
| 58 |
+
-1033.0574827194355,
|
| 59 |
+
177.22623031643226
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": -1.5707963267948966
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
679.8274333787658,
|
| 71 |
+
-1036.0574827194355,
|
| 72 |
+
177.22623031643226
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": -1.5707963267948966
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
679.8274333787658,
|
| 84 |
+
-1039.0574827194355,
|
| 85 |
+
177.22623031643226
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": -1.5707963267948966
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
679.8274333787658,
|
| 97 |
+
-1042.0574827194355,
|
| 98 |
+
177.22623031643226
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": -1.5707963267948966
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
679.8274333787658,
|
| 110 |
+
-1045.0574827194355,
|
| 111 |
+
177.22623031643226
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": -1.5707963267948966
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
679.8274333787658,
|
| 123 |
+
-1048.0574827194355,
|
| 124 |
+
177.22623031643226
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": -1.5707963267948966
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
679.8274333787658,
|
| 136 |
+
-1051.0574827194355,
|
| 137 |
+
177.22623031643226
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": -1.5707963267948966
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
679.8274333787658,
|
| 149 |
+
-1054.0574827194355,
|
| 150 |
+
177.22623031643226
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": -1.5707963267948966
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
679.8274333787658,
|
| 162 |
+
-1057.0574827194355,
|
| 163 |
+
177.22623031643226
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": -1.5707963267948966
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
679.8274333787658,
|
| 175 |
+
-1060.0574827194355,
|
| 176 |
+
177.22623031643226
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": -1.5707963267948966
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
679.8274333787658,
|
| 188 |
+
-1063.0574827194355,
|
| 189 |
+
177.22623031643226
|
| 190 |
+
],
|
| 191 |
+
"type": "stop",
|
| 192 |
+
"value": 0,
|
| 193 |
+
"yaw": -1.5707963267948966
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"aim_landmark": {
|
| 198 |
+
"color": "test",
|
| 199 |
+
"feature": "test",
|
| 200 |
+
"position": [
|
| 201 |
+
684.0,
|
| 202 |
+
-1088.0,
|
| 203 |
+
165.83
|
| 204 |
+
],
|
| 205 |
+
"shape": "test",
|
| 206 |
+
"dir": "center",
|
| 207 |
+
"size": "test",
|
| 208 |
+
"type": "building"
|
| 209 |
+
}
|
| 210 |
+
}
|
Image/env_airsim_sh/astar_data/high_short/2025-1-10_21-2-3_270617569/pose.jsonl
ADDED
|
@@ -0,0 +1,80 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
222.85215268174306,
|
| 6 |
+
72.51604199854205,
|
| 7 |
+
177.22623031643226
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": -2.6179938779914944
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
220.25407647038975,
|
| 19 |
+
71.01604199854205,
|
| 20 |
+
177.22623031643226
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": -2.6179938779914944
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
217.65600025903643,
|
| 32 |
+
69.51604199854205,
|
| 33 |
+
177.22623031643226
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": -2.6179938779914944
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
215.05792404768312,
|
| 45 |
+
68.01604199854205,
|
| 46 |
+
177.22623031643226
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": -2.6179938779914944
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
212.4598478363298,
|
| 58 |
+
66.51604199854205,
|
| 59 |
+
177.22623031643226
|
| 60 |
+
],
|
| 61 |
+
"type": "stop",
|
| 62 |
+
"value": 0,
|
| 63 |
+
"yaw": -2.6179938779914944
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"aim_landmark": {
|
| 68 |
+
"color": "test",
|
| 69 |
+
"feature": "test",
|
| 70 |
+
"position": [
|
| 71 |
+
140.0,
|
| 72 |
+
20.0,
|
| 73 |
+
602.915
|
| 74 |
+
],
|
| 75 |
+
"shape": "test",
|
| 76 |
+
"dir": "center",
|
| 77 |
+
"size": "test",
|
| 78 |
+
"type": "building"
|
| 79 |
+
}
|
| 80 |
+
}
|
Image/env_airsim_sh/astar_data/high_short/2025-1-10_21-24-29_1191614946/pose.jsonl
ADDED
|
@@ -0,0 +1,171 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
256.2389438909243,
|
| 6 |
+
702.4756323916647,
|
| 7 |
+
177.22623031643226
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 1.5707963267948966
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
256.2389438909243,
|
| 19 |
+
705.4756323916647,
|
| 20 |
+
177.22623031643226
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 1.5707963267948966
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
256.2389438909243,
|
| 32 |
+
708.4756323916647,
|
| 33 |
+
177.22623031643226
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 1.5707963267948966
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
256.2389438909243,
|
| 45 |
+
711.4756323916647,
|
| 46 |
+
177.22623031643226
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 1.5707963267948966
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
256.2389438909243,
|
| 58 |
+
714.4756323916647,
|
| 59 |
+
177.22623031643226
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 1.5707963267948966
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
256.2389438909243,
|
| 71 |
+
717.4756323916647,
|
| 72 |
+
177.22623031643226
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 1.5707963267948966
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
256.2389438909243,
|
| 84 |
+
720.4756323916647,
|
| 85 |
+
177.22623031643226
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 1.5707963267948966
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
256.2389438909243,
|
| 97 |
+
723.4756323916647,
|
| 98 |
+
177.22623031643226
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 1.5707963267948966
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
256.2389438909243,
|
| 110 |
+
726.4756323916647,
|
| 111 |
+
177.22623031643226
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 1.5707963267948966
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
256.2389438909243,
|
| 123 |
+
729.4756323916647,
|
| 124 |
+
177.22623031643226
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 1.5707963267948966
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
256.2389438909243,
|
| 136 |
+
732.4756323916647,
|
| 137 |
+
177.22623031643226
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 1.5707963267948966
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
256.2389438909243,
|
| 149 |
+
735.4756323916647,
|
| 150 |
+
177.22623031643226
|
| 151 |
+
],
|
| 152 |
+
"type": "stop",
|
| 153 |
+
"value": 0,
|
| 154 |
+
"yaw": 1.5707963267948966
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"aim_landmark": {
|
| 159 |
+
"color": "test",
|
| 160 |
+
"feature": "test",
|
| 161 |
+
"position": [
|
| 162 |
+
252.0,
|
| 163 |
+
780.0,
|
| 164 |
+
191.626
|
| 165 |
+
],
|
| 166 |
+
"shape": "test",
|
| 167 |
+
"dir": "center",
|
| 168 |
+
"size": "test",
|
| 169 |
+
"type": "building"
|
| 170 |
+
}
|
| 171 |
+
}
|
Image/env_airsim_sh/astar_data/high_short/2025-1-10_21-25-27_774404628/pose.jsonl
ADDED
|
@@ -0,0 +1,119 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
18.78905329150858,
|
| 6 |
+
3.7191823381550364,
|
| 7 |
+
177.22623031643226
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": -2.6179938779914944
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
16.190977080155264,
|
| 19 |
+
2.2191823381550364,
|
| 20 |
+
177.22623031643226
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": -2.6179938779914944
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
13.592900868801948,
|
| 32 |
+
0.7191823381550366,
|
| 33 |
+
177.22623031643226
|
| 34 |
+
],
|
| 35 |
+
"type": "turn left",
|
| 36 |
+
"value": 30,
|
| 37 |
+
"yaw": -2.6179938779914944
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
13.592900868801948,
|
| 45 |
+
0.7191823381550366,
|
| 46 |
+
177.22623031643226
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": -2.0943951023931957
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
12.092900868801948,
|
| 58 |
+
-1.8788938731982794,
|
| 59 |
+
177.22623031643226
|
| 60 |
+
],
|
| 61 |
+
"type": "turn right",
|
| 62 |
+
"value": 30,
|
| 63 |
+
"yaw": -2.0943951023931953
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
12.092900868801948,
|
| 71 |
+
-1.8788938731982794,
|
| 72 |
+
177.22623031643226
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": -2.617993877991494
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
9.494824657448632,
|
| 84 |
+
-3.378893873198279,
|
| 85 |
+
177.22623031643226
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": -2.6179938779914944
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
6.896748446095316,
|
| 97 |
+
-4.878893873198279,
|
| 98 |
+
177.22623031643226
|
| 99 |
+
],
|
| 100 |
+
"type": "stop",
|
| 101 |
+
"value": 0,
|
| 102 |
+
"yaw": -2.6179938779914944
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"aim_landmark": {
|
| 107 |
+
"color": "test",
|
| 108 |
+
"feature": "test",
|
| 109 |
+
"position": [
|
| 110 |
+
-36.0,
|
| 111 |
+
-28.0,
|
| 112 |
+
212.257
|
| 113 |
+
],
|
| 114 |
+
"shape": "test",
|
| 115 |
+
"dir": "center",
|
| 116 |
+
"size": "test",
|
| 117 |
+
"type": "building"
|
| 118 |
+
}
|
| 119 |
+
}
|
Image/env_airsim_sh/astar_data/high_short/2025-1-10_21-37-33_1891363558/pose.jsonl
ADDED
|
@@ -0,0 +1,275 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
158.10375091346668,
|
| 6 |
+
125.04064328899987,
|
| 7 |
+
177.22623031643226
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 0.5235987755982988
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
160.70182712482,
|
| 19 |
+
126.54064328899987,
|
| 20 |
+
177.22623031643226
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 0.5235987755982988
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
163.29990333617332,
|
| 32 |
+
128.04064328899986,
|
| 33 |
+
177.22623031643226
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 0.5235987755982947
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
165.89797954752663,
|
| 45 |
+
129.54064328899986,
|
| 46 |
+
177.22623031643226
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 0.5235987755982988
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
168.49605575887995,
|
| 58 |
+
131.04064328899986,
|
| 59 |
+
177.22623031643226
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 0.5235987755982988
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
171.09413197023326,
|
| 71 |
+
132.54064328899986,
|
| 72 |
+
177.22623031643226
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 0.5235987755982988
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
173.69220818158658,
|
| 84 |
+
134.04064328899986,
|
| 85 |
+
177.22623031643226
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 0.5235987755982988
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
176.2902843929399,
|
| 97 |
+
135.54064328899986,
|
| 98 |
+
177.22623031643226
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 0.5235987755982988
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
178.8883606042932,
|
| 110 |
+
137.04064328899986,
|
| 111 |
+
177.22623031643226
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 0.5235987755982988
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
181.48643681564653,
|
| 123 |
+
138.54064328899986,
|
| 124 |
+
177.22623031643226
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 0.5235987755982988
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
184.08451302699984,
|
| 136 |
+
140.04064328899986,
|
| 137 |
+
177.22623031643226
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 0.5235987755982988
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
186.68258923835316,
|
| 149 |
+
141.54064328899986,
|
| 150 |
+
177.22623031643226
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": 0.5235987755982988
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
189.28066544970648,
|
| 162 |
+
143.04064328899986,
|
| 163 |
+
177.22623031643226
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": 0.5235987755982988
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
191.8787416610598,
|
| 175 |
+
144.54064328899986,
|
| 176 |
+
177.22623031643226
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": 0.5235987755982988
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
194.4768178724131,
|
| 188 |
+
146.04064328899986,
|
| 189 |
+
177.22623031643226
|
| 190 |
+
],
|
| 191 |
+
"type": "turn left",
|
| 192 |
+
"value": 30,
|
| 193 |
+
"yaw": 0.5235987755982988
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
194.4768178724131,
|
| 201 |
+
146.04064328899986,
|
| 202 |
+
177.22623031643226
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": 1.0471975511965976
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
195.9768178724131,
|
| 214 |
+
148.63871950035318,
|
| 215 |
+
177.22623031643226
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": 1.0471975511965979
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
197.4768178724131,
|
| 227 |
+
151.2367957117065,
|
| 228 |
+
177.22623031643226
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": 1.0471975511965979
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
198.9768178724131,
|
| 240 |
+
153.8348719230598,
|
| 241 |
+
177.22623031643226
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": 1.0471975511965979
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
200.4768178724131,
|
| 253 |
+
156.43294813441312,
|
| 254 |
+
177.22623031643226
|
| 255 |
+
],
|
| 256 |
+
"type": "stop",
|
| 257 |
+
"value": 0,
|
| 258 |
+
"yaw": 1.0471975511965979
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"aim_landmark": {
|
| 263 |
+
"color": "test",
|
| 264 |
+
"feature": "test",
|
| 265 |
+
"position": [
|
| 266 |
+
228.0,
|
| 267 |
+
180.0,
|
| 268 |
+
396.289
|
| 269 |
+
],
|
| 270 |
+
"shape": "test",
|
| 271 |
+
"dir": "center",
|
| 272 |
+
"size": "test",
|
| 273 |
+
"type": "building"
|
| 274 |
+
}
|
| 275 |
+
}
|
Image/env_airsim_sh/astar_data/high_short/2025-1-10_21-51-11_1517244564/pose.jsonl
ADDED
|
@@ -0,0 +1,197 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
678.9192751007229,
|
| 6 |
+
-1024.8549846807607,
|
| 7 |
+
177.22623031643226
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": -1.5707963267948966
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
678.9192751007229,
|
| 19 |
+
-1027.8549846807607,
|
| 20 |
+
177.22623031643226
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": -1.5707963267948966
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
678.9192751007229,
|
| 32 |
+
-1030.8549846807607,
|
| 33 |
+
177.22623031643226
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": -1.5707963267948966
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
678.9192751007229,
|
| 45 |
+
-1033.8549846807607,
|
| 46 |
+
177.22623031643226
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": -1.5707963267948966
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
678.9192751007229,
|
| 58 |
+
-1036.8549846807607,
|
| 59 |
+
177.22623031643226
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": -1.5707963267948966
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
678.9192751007229,
|
| 71 |
+
-1039.8549846807607,
|
| 72 |
+
177.22623031643226
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": -1.5707963267948966
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
678.9192751007229,
|
| 84 |
+
-1042.8549846807607,
|
| 85 |
+
177.22623031643226
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": -1.5707963267948966
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
678.9192751007229,
|
| 97 |
+
-1045.8549846807607,
|
| 98 |
+
177.22623031643226
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": -1.5707963267948966
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
678.9192751007229,
|
| 110 |
+
-1048.8549846807607,
|
| 111 |
+
177.22623031643226
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": -1.5707963267948966
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
678.9192751007229,
|
| 123 |
+
-1051.8549846807607,
|
| 124 |
+
177.22623031643226
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": -1.5707963267948966
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
678.9192751007229,
|
| 136 |
+
-1054.8549846807607,
|
| 137 |
+
177.22623031643226
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": -1.5707963267948966
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
678.9192751007229,
|
| 149 |
+
-1057.8549846807607,
|
| 150 |
+
177.22623031643226
|
| 151 |
+
],
|
| 152 |
+
"type": "turn left",
|
| 153 |
+
"value": 30,
|
| 154 |
+
"yaw": -1.5707963267948966
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
678.9192751007229,
|
| 162 |
+
-1057.8549846807607,
|
| 163 |
+
177.22623031643226
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": -1.0471975511965979
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
680.4192751007229,
|
| 175 |
+
-1060.453060892114,
|
| 176 |
+
177.22623031643226
|
| 177 |
+
],
|
| 178 |
+
"type": "stop",
|
| 179 |
+
"value": 0,
|
| 180 |
+
"yaw": -1.0471975511965979
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"aim_landmark": {
|
| 185 |
+
"color": "test",
|
| 186 |
+
"feature": "test",
|
| 187 |
+
"position": [
|
| 188 |
+
684.0,
|
| 189 |
+
-1088.0,
|
| 190 |
+
165.83
|
| 191 |
+
],
|
| 192 |
+
"shape": "test",
|
| 193 |
+
"dir": "center",
|
| 194 |
+
"size": "test",
|
| 195 |
+
"type": "building"
|
| 196 |
+
}
|
| 197 |
+
}
|
Image/env_airsim_sh/astar_data/high_short/2025-1-10_21-55-53_136864840/pose.jsonl
ADDED
|
@@ -0,0 +1,392 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
-59.14735921114642,
|
| 6 |
+
487.81138229255305,
|
| 7 |
+
177.22623031643226
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 1.0471975511965979
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
-57.64735921114642,
|
| 19 |
+
490.40945850390636,
|
| 20 |
+
177.22623031643226
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 1.0471975511965979
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
-56.14735921114642,
|
| 32 |
+
493.0075347152597,
|
| 33 |
+
177.22623031643226
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 1.0471975511965979
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
-54.64735921114642,
|
| 45 |
+
495.605610926613,
|
| 46 |
+
177.22623031643226
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 1.0471975511965979
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
-53.14735921114642,
|
| 58 |
+
498.2036871379663,
|
| 59 |
+
177.22623031643226
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 1.0471975511965979
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
-51.64735921114642,
|
| 71 |
+
500.80176334931963,
|
| 72 |
+
177.22623031643226
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 1.0471975511965979
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
-50.14735921114642,
|
| 84 |
+
503.39983956067294,
|
| 85 |
+
177.22623031643226
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 1.0471975511965979
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
-48.64735921114642,
|
| 97 |
+
505.99791577202626,
|
| 98 |
+
177.22623031643226
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 1.0471975511965979
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
-47.14735921114642,
|
| 110 |
+
508.5959919833796,
|
| 111 |
+
177.22623031643226
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 1.0471975511965979
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
-45.64735921114642,
|
| 123 |
+
511.1940681947329,
|
| 124 |
+
177.22623031643226
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 1.0471975511965979
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
-44.14735921114642,
|
| 136 |
+
513.7921444060862,
|
| 137 |
+
177.22623031643226
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 1.0471975511965979
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
-42.64735921114642,
|
| 149 |
+
516.3902206174396,
|
| 150 |
+
177.22623031643226
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": 1.0471975511966072
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
-41.14735921114642,
|
| 162 |
+
518.988296828793,
|
| 163 |
+
177.22623031643226
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": 1.0471975511966072
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
-39.64735921114642,
|
| 175 |
+
521.5863730401463,
|
| 176 |
+
177.22623031643226
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": 1.0471975511966072
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
-38.14735921114642,
|
| 188 |
+
524.1844492514997,
|
| 189 |
+
177.22623031643226
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": 1.0471975511966072
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
-36.64735921114642,
|
| 201 |
+
526.7825254628531,
|
| 202 |
+
177.22623031643226
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": 1.0471975511966072
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
-35.14735921114642,
|
| 214 |
+
529.3806016742064,
|
| 215 |
+
177.22623031643226
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": 1.0471975511966072
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
-33.64735921114642,
|
| 227 |
+
531.9786778855598,
|
| 228 |
+
177.22623031643226
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": 1.0471975511966072
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
-32.14735921114642,
|
| 240 |
+
534.5767540969132,
|
| 241 |
+
177.22623031643226
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": 1.0471975511966072
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
-30.647359211146423,
|
| 253 |
+
537.1748303082666,
|
| 254 |
+
177.22623031643226
|
| 255 |
+
],
|
| 256 |
+
"type": "go straight",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": 1.0471975511966072
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
-29.147359211146423,
|
| 266 |
+
539.7729065196199,
|
| 267 |
+
177.22623031643226
|
| 268 |
+
],
|
| 269 |
+
"type": "turn right",
|
| 270 |
+
"value": 30,
|
| 271 |
+
"yaw": 1.0471975511966072
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
-29.147359211146423,
|
| 279 |
+
539.7729065196199,
|
| 280 |
+
177.22623031643226
|
| 281 |
+
],
|
| 282 |
+
"type": "go straight",
|
| 283 |
+
"value": 3,
|
| 284 |
+
"yaw": 0.5235987755983084
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"action": {
|
| 289 |
+
"imageid": 22,
|
| 290 |
+
"pos": [
|
| 291 |
+
-26.549282999793107,
|
| 292 |
+
541.2729065196199,
|
| 293 |
+
177.22623031643226
|
| 294 |
+
],
|
| 295 |
+
"type": "go straight",
|
| 296 |
+
"value": 3,
|
| 297 |
+
"yaw": 0.5235987755982988
|
| 298 |
+
}
|
| 299 |
+
}
|
| 300 |
+
{
|
| 301 |
+
"action": {
|
| 302 |
+
"imageid": 23,
|
| 303 |
+
"pos": [
|
| 304 |
+
-23.95120678843979,
|
| 305 |
+
542.7729065196199,
|
| 306 |
+
177.22623031643226
|
| 307 |
+
],
|
| 308 |
+
"type": "go straight",
|
| 309 |
+
"value": 3,
|
| 310 |
+
"yaw": 0.5235987755982988
|
| 311 |
+
}
|
| 312 |
+
}
|
| 313 |
+
{
|
| 314 |
+
"action": {
|
| 315 |
+
"imageid": 24,
|
| 316 |
+
"pos": [
|
| 317 |
+
-21.353130577086475,
|
| 318 |
+
544.2729065196199,
|
| 319 |
+
177.22623031643226
|
| 320 |
+
],
|
| 321 |
+
"type": "go straight",
|
| 322 |
+
"value": 3,
|
| 323 |
+
"yaw": 0.5235987755982988
|
| 324 |
+
}
|
| 325 |
+
}
|
| 326 |
+
{
|
| 327 |
+
"action": {
|
| 328 |
+
"imageid": 25,
|
| 329 |
+
"pos": [
|
| 330 |
+
-18.75505436573316,
|
| 331 |
+
545.7729065196199,
|
| 332 |
+
177.22623031643226
|
| 333 |
+
],
|
| 334 |
+
"type": "go straight",
|
| 335 |
+
"value": 3,
|
| 336 |
+
"yaw": 0.5235987755982988
|
| 337 |
+
}
|
| 338 |
+
}
|
| 339 |
+
{
|
| 340 |
+
"action": {
|
| 341 |
+
"imageid": 26,
|
| 342 |
+
"pos": [
|
| 343 |
+
-16.156978154379843,
|
| 344 |
+
547.2729065196199,
|
| 345 |
+
177.22623031643226
|
| 346 |
+
],
|
| 347 |
+
"type": "go straight",
|
| 348 |
+
"value": 3,
|
| 349 |
+
"yaw": 0.5235987755982988
|
| 350 |
+
}
|
| 351 |
+
}
|
| 352 |
+
{
|
| 353 |
+
"action": {
|
| 354 |
+
"imageid": 27,
|
| 355 |
+
"pos": [
|
| 356 |
+
-13.558901943026527,
|
| 357 |
+
548.7729065196199,
|
| 358 |
+
177.22623031643226
|
| 359 |
+
],
|
| 360 |
+
"type": "go straight",
|
| 361 |
+
"value": 3,
|
| 362 |
+
"yaw": 0.5235987755982988
|
| 363 |
+
}
|
| 364 |
+
}
|
| 365 |
+
{
|
| 366 |
+
"action": {
|
| 367 |
+
"imageid": 28,
|
| 368 |
+
"pos": [
|
| 369 |
+
-10.96082573167321,
|
| 370 |
+
550.2729065196199,
|
| 371 |
+
177.22623031643226
|
| 372 |
+
],
|
| 373 |
+
"type": "stop",
|
| 374 |
+
"value": 0,
|
| 375 |
+
"yaw": 0.5235987755982988
|
| 376 |
+
}
|
| 377 |
+
}
|
| 378 |
+
{
|
| 379 |
+
"aim_landmark": {
|
| 380 |
+
"color": "test",
|
| 381 |
+
"feature": "test",
|
| 382 |
+
"position": [
|
| 383 |
+
4.0,
|
| 384 |
+
564.0,
|
| 385 |
+
235.27
|
| 386 |
+
],
|
| 387 |
+
"shape": "test",
|
| 388 |
+
"dir": "center",
|
| 389 |
+
"size": "test",
|
| 390 |
+
"type": "building"
|
| 391 |
+
}
|
| 392 |
+
}
|
Image/env_airsim_sh/astar_data/high_short/2025-1-10_21-58-47_912078408/pose.jsonl
ADDED
|
@@ -0,0 +1,249 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
264.00458361244,
|
| 6 |
+
904.1630101458853,
|
| 7 |
+
177.22623031643226
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 0.0
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
267.00458361244,
|
| 19 |
+
904.1630101458853,
|
| 20 |
+
177.22623031643226
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 0.0
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
270.00458361244,
|
| 32 |
+
904.1630101458853,
|
| 33 |
+
177.22623031643226
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 0.0
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
273.00458361244,
|
| 45 |
+
904.1630101458853,
|
| 46 |
+
177.22623031643226
|
| 47 |
+
],
|
| 48 |
+
"type": "turn left",
|
| 49 |
+
"value": 30,
|
| 50 |
+
"yaw": 0.0
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
273.00458361244,
|
| 58 |
+
904.1630101458853,
|
| 59 |
+
177.22623031643226
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 0.5235987755982988
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
275.6026598237933,
|
| 71 |
+
905.6630101458853,
|
| 72 |
+
177.22623031643226
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 0.5235987755982988
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
278.20073603514663,
|
| 84 |
+
907.1630101458853,
|
| 85 |
+
177.22623031643226
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 0.5235987755982988
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
280.79881224649995,
|
| 97 |
+
908.6630101458853,
|
| 98 |
+
177.22623031643226
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 0.5235987755982988
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
283.39688845785327,
|
| 110 |
+
910.1630101458853,
|
| 111 |
+
177.22623031643226
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 0.5235987755982988
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
285.9949646692066,
|
| 123 |
+
911.6630101458853,
|
| 124 |
+
177.22623031643226
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 0.5235987755982988
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
288.5930408805599,
|
| 136 |
+
913.1630101458853,
|
| 137 |
+
177.22623031643226
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 0.5235987755982988
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
291.1911170919132,
|
| 149 |
+
914.6630101458853,
|
| 150 |
+
177.22623031643226
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": 0.5235987755982988
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
293.78919330326653,
|
| 162 |
+
916.1630101458853,
|
| 163 |
+
177.22623031643226
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": 0.5235987755982988
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
296.38726951461985,
|
| 175 |
+
917.6630101458853,
|
| 176 |
+
177.22623031643226
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": 0.5235987755982988
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
298.98534572597316,
|
| 188 |
+
919.1630101458853,
|
| 189 |
+
177.22623031643226
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": 0.5235987755982988
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
301.5834219373265,
|
| 201 |
+
920.6630101458853,
|
| 202 |
+
177.22623031643226
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": 0.5235987755982988
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
304.1814981486798,
|
| 214 |
+
922.1630101458853,
|
| 215 |
+
177.22623031643226
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": 0.5235987755982988
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
306.7795743600331,
|
| 227 |
+
923.6630101458853,
|
| 228 |
+
177.22623031643226
|
| 229 |
+
],
|
| 230 |
+
"type": "stop",
|
| 231 |
+
"value": 0,
|
| 232 |
+
"yaw": 0.5235987755982988
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"aim_landmark": {
|
| 237 |
+
"color": "test",
|
| 238 |
+
"feature": "test",
|
| 239 |
+
"position": [
|
| 240 |
+
332.0,
|
| 241 |
+
936.0,
|
| 242 |
+
212.714
|
| 243 |
+
],
|
| 244 |
+
"shape": "test",
|
| 245 |
+
"dir": "center",
|
| 246 |
+
"size": "test",
|
| 247 |
+
"type": "building"
|
| 248 |
+
}
|
| 249 |
+
}
|
Image/env_airsim_sh/astar_data/high_short/2025-1-10_22-14-13_854155594/pose.jsonl
ADDED
|
@@ -0,0 +1,379 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
263.36357534155815,
|
| 6 |
+
296.6082329537997,
|
| 7 |
+
177.22623031643226
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": -2.0943951023931953
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
261.86357534155815,
|
| 19 |
+
294.0101567424464,
|
| 20 |
+
177.22623031643226
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": -2.0943951023931953
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
260.36357534155815,
|
| 32 |
+
291.41208053109307,
|
| 33 |
+
177.22623031643226
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": -2.0943951023931953
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
258.86357534155815,
|
| 45 |
+
288.81400431973975,
|
| 46 |
+
177.22623031643226
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": -2.0943951023931953
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
257.36357534155815,
|
| 58 |
+
286.21592810838644,
|
| 59 |
+
177.22623031643226
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": -2.0943951023931953
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
255.86357534155815,
|
| 71 |
+
283.6178518970331,
|
| 72 |
+
177.22623031643226
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": -2.0943951023931953
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
254.36357534155815,
|
| 84 |
+
281.0197756856798,
|
| 85 |
+
177.22623031643226
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": -2.0943951023931953
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
252.86357534155815,
|
| 97 |
+
278.4216994743265,
|
| 98 |
+
177.22623031643226
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": -2.0943951023931953
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
251.36357534155815,
|
| 110 |
+
275.8236232629732,
|
| 111 |
+
177.22623031643226
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": -2.0943951023931953
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
249.86357534155815,
|
| 123 |
+
273.22554705161986,
|
| 124 |
+
177.22623031643226
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": -2.0943951023931953
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
248.36357534155815,
|
| 136 |
+
270.62747084026654,
|
| 137 |
+
177.22623031643226
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": -2.0943951023931953
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
246.86357534155815,
|
| 149 |
+
268.0293946289132,
|
| 150 |
+
177.22623031643226
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": -2.0943951023931953
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
245.36357534155815,
|
| 162 |
+
265.4313184175599,
|
| 163 |
+
177.22623031643226
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": -2.0943951023931953
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
243.86357534155815,
|
| 175 |
+
262.8332422062066,
|
| 176 |
+
177.22623031643226
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": -2.0943951023931953
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
242.36357534155815,
|
| 188 |
+
260.2351659948533,
|
| 189 |
+
177.22623031643226
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": -2.0943951023931953
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
240.86357534155815,
|
| 201 |
+
257.63708978349996,
|
| 202 |
+
177.22623031643226
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": -2.0943951023931953
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
239.36357534155815,
|
| 214 |
+
255.03901357214664,
|
| 215 |
+
177.22623031643226
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": -2.0943951023931953
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
237.86357534155815,
|
| 227 |
+
252.44093736079333,
|
| 228 |
+
177.22623031643226
|
| 229 |
+
],
|
| 230 |
+
"type": "turn left",
|
| 231 |
+
"value": 30,
|
| 232 |
+
"yaw": -2.0943951023931953
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
237.86357534155815,
|
| 240 |
+
252.44093736079333,
|
| 241 |
+
177.22623031643226
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": -1.5707963267948966
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
237.86357534155815,
|
| 253 |
+
249.44093736079333,
|
| 254 |
+
177.22623031643226
|
| 255 |
+
],
|
| 256 |
+
"type": "go straight",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": -1.5707963267948966
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
237.86357534155815,
|
| 266 |
+
246.44093736079333,
|
| 267 |
+
177.22623031643226
|
| 268 |
+
],
|
| 269 |
+
"type": "go straight",
|
| 270 |
+
"value": 3,
|
| 271 |
+
"yaw": -1.5707963267948966
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
237.86357534155815,
|
| 279 |
+
243.44093736079333,
|
| 280 |
+
177.22623031643226
|
| 281 |
+
],
|
| 282 |
+
"type": "go straight",
|
| 283 |
+
"value": 3,
|
| 284 |
+
"yaw": -1.5707963267948966
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"action": {
|
| 289 |
+
"imageid": 22,
|
| 290 |
+
"pos": [
|
| 291 |
+
237.86357534155815,
|
| 292 |
+
240.44093736079333,
|
| 293 |
+
177.22623031643226
|
| 294 |
+
],
|
| 295 |
+
"type": "go straight",
|
| 296 |
+
"value": 3,
|
| 297 |
+
"yaw": -1.5707963267948966
|
| 298 |
+
}
|
| 299 |
+
}
|
| 300 |
+
{
|
| 301 |
+
"action": {
|
| 302 |
+
"imageid": 23,
|
| 303 |
+
"pos": [
|
| 304 |
+
237.86357534155815,
|
| 305 |
+
237.44093736079333,
|
| 306 |
+
177.22623031643226
|
| 307 |
+
],
|
| 308 |
+
"type": "go straight",
|
| 309 |
+
"value": 3,
|
| 310 |
+
"yaw": -1.5707963267948966
|
| 311 |
+
}
|
| 312 |
+
}
|
| 313 |
+
{
|
| 314 |
+
"action": {
|
| 315 |
+
"imageid": 24,
|
| 316 |
+
"pos": [
|
| 317 |
+
237.86357534155815,
|
| 318 |
+
234.44093736079333,
|
| 319 |
+
177.22623031643226
|
| 320 |
+
],
|
| 321 |
+
"type": "go straight",
|
| 322 |
+
"value": 3,
|
| 323 |
+
"yaw": -1.5707963267948966
|
| 324 |
+
}
|
| 325 |
+
}
|
| 326 |
+
{
|
| 327 |
+
"action": {
|
| 328 |
+
"imageid": 25,
|
| 329 |
+
"pos": [
|
| 330 |
+
237.86357534155815,
|
| 331 |
+
231.44093736079333,
|
| 332 |
+
177.22623031643226
|
| 333 |
+
],
|
| 334 |
+
"type": "go straight",
|
| 335 |
+
"value": 3,
|
| 336 |
+
"yaw": -1.5707963267948966
|
| 337 |
+
}
|
| 338 |
+
}
|
| 339 |
+
{
|
| 340 |
+
"action": {
|
| 341 |
+
"imageid": 26,
|
| 342 |
+
"pos": [
|
| 343 |
+
237.86357534155815,
|
| 344 |
+
228.44093736079333,
|
| 345 |
+
177.22623031643226
|
| 346 |
+
],
|
| 347 |
+
"type": "go straight",
|
| 348 |
+
"value": 3,
|
| 349 |
+
"yaw": -1.5707963267948966
|
| 350 |
+
}
|
| 351 |
+
}
|
| 352 |
+
{
|
| 353 |
+
"action": {
|
| 354 |
+
"imageid": 27,
|
| 355 |
+
"pos": [
|
| 356 |
+
237.86357534155815,
|
| 357 |
+
225.44093736079333,
|
| 358 |
+
177.22623031643226
|
| 359 |
+
],
|
| 360 |
+
"type": "stop",
|
| 361 |
+
"value": 0,
|
| 362 |
+
"yaw": -1.5707963267948966
|
| 363 |
+
}
|
| 364 |
+
}
|
| 365 |
+
{
|
| 366 |
+
"aim_landmark": {
|
| 367 |
+
"color": "test",
|
| 368 |
+
"feature": "test",
|
| 369 |
+
"position": [
|
| 370 |
+
232.0,
|
| 371 |
+
212.0,
|
| 372 |
+
376.005
|
| 373 |
+
],
|
| 374 |
+
"shape": "test",
|
| 375 |
+
"dir": "right",
|
| 376 |
+
"size": "test",
|
| 377 |
+
"type": "building"
|
| 378 |
+
}
|
| 379 |
+
}
|
Image/env_airsim_sh/astar_data/high_short/2025-1-10_22-17-26_1554430207/pose.jsonl
ADDED
|
@@ -0,0 +1,275 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
517.5762103818488,
|
| 6 |
+
833.468301889347,
|
| 7 |
+
177.22623031643226
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 1.0471975511966072
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
519.0762103818488,
|
| 19 |
+
836.0663781007004,
|
| 20 |
+
177.22623031643226
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 1.0471975511966072
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
520.5762103818488,
|
| 32 |
+
838.6644543120537,
|
| 33 |
+
177.22623031643226
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 1.0471975511966072
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
522.0762103818488,
|
| 45 |
+
841.2625305234071,
|
| 46 |
+
177.22623031643226
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 1.0471975511966072
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
523.5762103818488,
|
| 58 |
+
843.8606067347605,
|
| 59 |
+
177.22623031643226
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 1.0471975511966072
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
525.0762103818488,
|
| 71 |
+
846.4586829461139,
|
| 72 |
+
177.22623031643226
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 1.0471975511966072
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
526.5762103818488,
|
| 84 |
+
849.0567591574672,
|
| 85 |
+
177.22623031643226
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 1.0471975511966072
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
528.0762103818488,
|
| 97 |
+
851.6548353688206,
|
| 98 |
+
177.22623031643226
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 1.0471975511966072
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
529.5762103818488,
|
| 110 |
+
854.252911580174,
|
| 111 |
+
177.22623031643226
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 1.0471975511966072
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
531.0762103818488,
|
| 123 |
+
856.8509877915274,
|
| 124 |
+
177.22623031643226
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 1.0471975511966072
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
532.5762103818488,
|
| 136 |
+
859.4490640028807,
|
| 137 |
+
177.22623031643226
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 1.0471975511966072
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
534.0762103818488,
|
| 149 |
+
862.0471402142341,
|
| 150 |
+
177.22623031643226
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": 1.0471975511966072
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
535.5762103818488,
|
| 162 |
+
864.6452164255875,
|
| 163 |
+
177.22623031643226
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": 1.0471975511966072
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
537.0762103818488,
|
| 175 |
+
867.2432926369409,
|
| 176 |
+
177.22623031643226
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": 1.0471975511966072
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
538.5762103818488,
|
| 188 |
+
869.8413688482942,
|
| 189 |
+
177.22623031643226
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": 1.0471975511966072
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
540.0762103818488,
|
| 201 |
+
872.4394450596476,
|
| 202 |
+
177.22623031643226
|
| 203 |
+
],
|
| 204 |
+
"type": "turn left",
|
| 205 |
+
"value": 30,
|
| 206 |
+
"yaw": 1.0471975511966072
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
540.0762103818488,
|
| 214 |
+
872.4394450596476,
|
| 215 |
+
177.22623031643226
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": 1.5707963267949059
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
540.0762103818488,
|
| 227 |
+
875.4394450596476,
|
| 228 |
+
177.22623031643226
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": 1.5707963267948966
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
540.0762103818488,
|
| 240 |
+
878.4394450596476,
|
| 241 |
+
177.22623031643226
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": 1.5707963267948966
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
540.0762103818488,
|
| 253 |
+
881.4394450596476,
|
| 254 |
+
177.22623031643226
|
| 255 |
+
],
|
| 256 |
+
"type": "stop",
|
| 257 |
+
"value": 0,
|
| 258 |
+
"yaw": 1.5707963267948966
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"aim_landmark": {
|
| 263 |
+
"color": "test",
|
| 264 |
+
"feature": "test",
|
| 265 |
+
"position": [
|
| 266 |
+
560.0,
|
| 267 |
+
920.0,
|
| 268 |
+
216.131
|
| 269 |
+
],
|
| 270 |
+
"shape": "test",
|
| 271 |
+
"dir": "right",
|
| 272 |
+
"size": "test",
|
| 273 |
+
"type": "building"
|
| 274 |
+
}
|
| 275 |
+
}
|
Image/env_airsim_sh/astar_data/high_short/2025-1-10_22-22-11_1467704485/pose.jsonl
ADDED
|
@@ -0,0 +1,236 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
276.54553990468804,
|
| 6 |
+
252.23084651371636,
|
| 7 |
+
177.22623031643226
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": -2.6179938779914944
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
273.9474636933347,
|
| 19 |
+
250.73084651371636,
|
| 20 |
+
177.22623031643226
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": -2.6179938779914944
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
271.3493874819814,
|
| 32 |
+
249.23084651371636,
|
| 33 |
+
177.22623031643226
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": -2.6179938779914944
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
268.7513112706281,
|
| 45 |
+
247.73084651371636,
|
| 46 |
+
177.22623031643226
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": -2.6179938779914944
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
266.1532350592748,
|
| 58 |
+
246.23084651371636,
|
| 59 |
+
177.22623031643226
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": -2.6179938779914944
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
263.55515884792146,
|
| 71 |
+
244.73084651371636,
|
| 72 |
+
177.22623031643226
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": -2.6179938779914944
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
260.95708263656815,
|
| 84 |
+
243.23084651371636,
|
| 85 |
+
177.22623031643226
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": -2.6179938779914944
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
258.35900642521483,
|
| 97 |
+
241.73084651371636,
|
| 98 |
+
177.22623031643226
|
| 99 |
+
],
|
| 100 |
+
"type": "turn left",
|
| 101 |
+
"value": 30,
|
| 102 |
+
"yaw": -2.6179938779914944
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
258.35900642521483,
|
| 110 |
+
241.73084651371636,
|
| 111 |
+
177.22623031643226
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": -2.0943951023931957
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
256.85900642521483,
|
| 123 |
+
239.13277030236304,
|
| 124 |
+
177.22623031643226
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": -2.0943951023931953
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
255.35900642521483,
|
| 136 |
+
236.53469409100973,
|
| 137 |
+
177.22623031643226
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": -2.0943951023931953
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
253.85900642521483,
|
| 149 |
+
233.9366178796564,
|
| 150 |
+
177.22623031643226
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": -2.0943951023931953
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
252.35900642521483,
|
| 162 |
+
231.3385416683031,
|
| 163 |
+
177.22623031643226
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": -2.0943951023931953
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
250.85900642521483,
|
| 175 |
+
228.74046545694978,
|
| 176 |
+
177.22623031643226
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": -2.0943951023931953
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
249.35900642521483,
|
| 188 |
+
226.14238924559646,
|
| 189 |
+
177.22623031643226
|
| 190 |
+
],
|
| 191 |
+
"type": "turn right",
|
| 192 |
+
"value": 30,
|
| 193 |
+
"yaw": -2.0943951023931953
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
249.35900642521483,
|
| 201 |
+
226.14238924559646,
|
| 202 |
+
177.22623031643226
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": -2.617993877991494
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
246.7609302138615,
|
| 214 |
+
224.64238924559646,
|
| 215 |
+
177.22623031643226
|
| 216 |
+
],
|
| 217 |
+
"type": "stop",
|
| 218 |
+
"value": 0,
|
| 219 |
+
"yaw": -2.617993877991494
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"aim_landmark": {
|
| 224 |
+
"color": "test",
|
| 225 |
+
"feature": "test",
|
| 226 |
+
"position": [
|
| 227 |
+
216.0,
|
| 228 |
+
196.0,
|
| 229 |
+
446.603
|
| 230 |
+
],
|
| 231 |
+
"shape": "test",
|
| 232 |
+
"dir": "center",
|
| 233 |
+
"size": "test",
|
| 234 |
+
"type": "building"
|
| 235 |
+
}
|
| 236 |
+
}
|
Image/env_airsim_sh/astar_data/high_short/2025-1-10_22-33-56_506959639/pose.jsonl
ADDED
|
@@ -0,0 +1,106 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
821.6924574383792,
|
| 6 |
+
-1370.784663021831,
|
| 7 |
+
177.22623031643226
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 2.094395102393186
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
820.1924574383792,
|
| 19 |
+
-1368.1865868104776,
|
| 20 |
+
177.22623031643226
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 2.094395102393186
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
818.6924574383792,
|
| 32 |
+
-1365.5885105991242,
|
| 33 |
+
177.22623031643226
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 2.094395102393186
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
817.1924574383792,
|
| 45 |
+
-1362.9904343877708,
|
| 46 |
+
177.22623031643226
|
| 47 |
+
],
|
| 48 |
+
"type": "turn right",
|
| 49 |
+
"value": 30,
|
| 50 |
+
"yaw": 2.094395102393186
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
817.1924574383792,
|
| 58 |
+
-1362.9904343877708,
|
| 59 |
+
177.22623031643226
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 1.5707963267948872
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
817.1924574383792,
|
| 71 |
+
-1359.9904343877708,
|
| 72 |
+
177.22623031643226
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 1.5707963267948966
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
817.1924574383792,
|
| 84 |
+
-1356.9904343877708,
|
| 85 |
+
177.22623031643226
|
| 86 |
+
],
|
| 87 |
+
"type": "stop",
|
| 88 |
+
"value": 0,
|
| 89 |
+
"yaw": 1.5707963267948966
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"aim_landmark": {
|
| 94 |
+
"color": "test",
|
| 95 |
+
"feature": "test",
|
| 96 |
+
"position": [
|
| 97 |
+
800.0,
|
| 98 |
+
-1304.0,
|
| 99 |
+
163.632
|
| 100 |
+
],
|
| 101 |
+
"shape": "test",
|
| 102 |
+
"dir": "center",
|
| 103 |
+
"size": "test",
|
| 104 |
+
"type": "building"
|
| 105 |
+
}
|
| 106 |
+
}
|
Image/env_airsim_sh/astar_data/high_short/2025-1-10_22-52-47_1481907231/pose.jsonl
ADDED
|
@@ -0,0 +1,67 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
811.0569215925069,
|
| 6 |
+
-1239.8580347593513,
|
| 7 |
+
177.22623031643226
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 2.094395102393186
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
809.5569215925069,
|
| 19 |
+
-1237.259958547998,
|
| 20 |
+
177.22623031643226
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 2.094395102393186
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
808.0569215925069,
|
| 32 |
+
-1234.6618823366446,
|
| 33 |
+
177.22623031643226
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 2.094395102393186
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
806.5569215925069,
|
| 45 |
+
-1232.0638061252912,
|
| 46 |
+
177.22623031643226
|
| 47 |
+
],
|
| 48 |
+
"type": "stop",
|
| 49 |
+
"value": 0,
|
| 50 |
+
"yaw": 2.094395102393186
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"aim_landmark": {
|
| 55 |
+
"color": "test",
|
| 56 |
+
"feature": "test",
|
| 57 |
+
"position": [
|
| 58 |
+
768.0,
|
| 59 |
+
-1160.0,
|
| 60 |
+
163.63
|
| 61 |
+
],
|
| 62 |
+
"shape": "test",
|
| 63 |
+
"dir": "center",
|
| 64 |
+
"size": "test",
|
| 65 |
+
"type": "building"
|
| 66 |
+
}
|
| 67 |
+
}
|
Image/env_airsim_sh/astar_data/high_short/2025-1-10_23-12-17_1861853489/pose.jsonl
ADDED
|
@@ -0,0 +1,119 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
222.40358610382611,
|
| 6 |
+
118.81253860655123,
|
| 7 |
+
177.22623031643226
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 1.5707963267948966
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
222.40358610382611,
|
| 19 |
+
121.81253860655123,
|
| 20 |
+
177.22623031643226
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 1.5707963267948966
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
222.40358610382611,
|
| 32 |
+
124.81253860655123,
|
| 33 |
+
177.22623031643226
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 1.5707963267948966
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
222.40358610382611,
|
| 45 |
+
127.81253860655123,
|
| 46 |
+
177.22623031643226
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 1.5707963267948966
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
222.40358610382611,
|
| 58 |
+
130.81253860655124,
|
| 59 |
+
177.22623031643226
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 1.5707963267948966
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
222.40358610382611,
|
| 71 |
+
133.81253860655124,
|
| 72 |
+
177.22623031643226
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 1.5707963267948966
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
222.40358610382611,
|
| 84 |
+
136.81253860655124,
|
| 85 |
+
177.22623031643226
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 1.5707963267948966
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
222.40358610382611,
|
| 97 |
+
139.81253860655124,
|
| 98 |
+
177.22623031643226
|
| 99 |
+
],
|
| 100 |
+
"type": "stop",
|
| 101 |
+
"value": 0,
|
| 102 |
+
"yaw": 1.5707963267948966
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"aim_landmark": {
|
| 107 |
+
"color": "test",
|
| 108 |
+
"feature": "test",
|
| 109 |
+
"position": [
|
| 110 |
+
216.0,
|
| 111 |
+
196.0,
|
| 112 |
+
446.603
|
| 113 |
+
],
|
| 114 |
+
"shape": "test",
|
| 115 |
+
"dir": "center",
|
| 116 |
+
"size": "test",
|
| 117 |
+
"type": "building"
|
| 118 |
+
}
|
| 119 |
+
}
|
Image/env_airsim_sh/astar_data/high_short/2025-1-10_23-14-47_1904279192/pose.jsonl
ADDED
|
@@ -0,0 +1,236 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
318.7592059621278,
|
| 6 |
+
706.1977955130292,
|
| 7 |
+
177.22623031643226
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 0.0
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
321.7592059621278,
|
| 19 |
+
706.1977955130292,
|
| 20 |
+
177.22623031643226
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 0.0
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
324.7592059621278,
|
| 32 |
+
706.1977955130292,
|
| 33 |
+
177.22623031643226
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 0.0
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
327.7592059621278,
|
| 45 |
+
706.1977955130292,
|
| 46 |
+
177.22623031643226
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 0.0
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
330.7592059621278,
|
| 58 |
+
706.1977955130292,
|
| 59 |
+
177.22623031643226
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 0.0
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
333.7592059621278,
|
| 71 |
+
706.1977955130292,
|
| 72 |
+
177.22623031643226
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 0.0
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
336.7592059621278,
|
| 84 |
+
706.1977955130292,
|
| 85 |
+
177.22623031643226
|
| 86 |
+
],
|
| 87 |
+
"type": "turn left",
|
| 88 |
+
"value": 30,
|
| 89 |
+
"yaw": 0.0
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
336.7592059621278,
|
| 97 |
+
706.1977955130292,
|
| 98 |
+
177.22623031643226
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 0.5235987755982988
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
339.3572821734811,
|
| 110 |
+
707.6977955130292,
|
| 111 |
+
177.22623031643226
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 0.5235987755982988
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
341.9553583848344,
|
| 123 |
+
709.1977955130292,
|
| 124 |
+
177.22623031643226
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 0.5235987755982988
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
344.55343459618774,
|
| 136 |
+
710.6977955130292,
|
| 137 |
+
177.22623031643226
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 0.5235987755982988
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
347.15151080754106,
|
| 149 |
+
712.1977955130292,
|
| 150 |
+
177.22623031643226
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": 0.5235987755982988
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
349.7495870188944,
|
| 162 |
+
713.6977955130292,
|
| 163 |
+
177.22623031643226
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": 0.5235987755982988
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
352.3476632302477,
|
| 175 |
+
715.1977955130292,
|
| 176 |
+
177.22623031643226
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": 0.5235987755982988
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
354.945739441601,
|
| 188 |
+
716.6977955130292,
|
| 189 |
+
177.22623031643226
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": 0.5235987755982988
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
357.5438156529543,
|
| 201 |
+
718.1977955130292,
|
| 202 |
+
177.22623031643226
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": 0.5235987755982988
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
360.14189186430764,
|
| 214 |
+
719.6977955130292,
|
| 215 |
+
177.22623031643226
|
| 216 |
+
],
|
| 217 |
+
"type": "stop",
|
| 218 |
+
"value": 0,
|
| 219 |
+
"yaw": 0.5235987755982988
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"aim_landmark": {
|
| 224 |
+
"color": "test",
|
| 225 |
+
"feature": "test",
|
| 226 |
+
"position": [
|
| 227 |
+
400.0,
|
| 228 |
+
736.0,
|
| 229 |
+
172.46
|
| 230 |
+
],
|
| 231 |
+
"shape": "test",
|
| 232 |
+
"dir": "center",
|
| 233 |
+
"size": "test",
|
| 234 |
+
"type": "building"
|
| 235 |
+
}
|
| 236 |
+
}
|
Image/env_airsim_sh/astar_data/high_short/2025-1-10_23-17-16_2131953877/pose.jsonl
ADDED
|
@@ -0,0 +1,366 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
756.4118918048163,
|
| 6 |
+
-1029.0316190762273,
|
| 7 |
+
177.22623031643226
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": -2.617993877991485
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
753.813815593463,
|
| 19 |
+
-1030.5316190762273,
|
| 20 |
+
177.22623031643226
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": -2.617993877991485
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
751.2157393821096,
|
| 32 |
+
-1032.0316190762273,
|
| 33 |
+
177.22623031643226
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": -2.6179938779915037
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
748.6176631707563,
|
| 45 |
+
-1033.5316190762273,
|
| 46 |
+
177.22623031643226
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": -2.6179938779915037
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
746.0195869594029,
|
| 58 |
+
-1035.0316190762273,
|
| 59 |
+
177.22623031643226
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": -2.6179938779915037
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
743.4215107480495,
|
| 71 |
+
-1036.5316190762273,
|
| 72 |
+
177.22623031643226
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": -2.6179938779915037
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
740.8234345366961,
|
| 84 |
+
-1038.0316190762273,
|
| 85 |
+
177.22623031643226
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": -2.6179938779915037
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
738.2253583253428,
|
| 97 |
+
-1039.5316190762273,
|
| 98 |
+
177.22623031643226
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": -2.6179938779915037
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
735.6272821139894,
|
| 110 |
+
-1041.0316190762273,
|
| 111 |
+
177.22623031643226
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": -2.6179938779915037
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
733.029205902636,
|
| 123 |
+
-1042.5316190762273,
|
| 124 |
+
177.22623031643226
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": -2.6179938779915037
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
730.4311296912826,
|
| 136 |
+
-1044.0316190762273,
|
| 137 |
+
177.22623031643226
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": -2.6179938779915037
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
727.8330534799293,
|
| 149 |
+
-1045.5316190762273,
|
| 150 |
+
177.22623031643226
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": -2.6179938779915037
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
725.2349772685759,
|
| 162 |
+
-1047.0316190762273,
|
| 163 |
+
177.22623031643226
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": -2.6179938779915037
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
722.6369010572225,
|
| 175 |
+
-1048.5316190762273,
|
| 176 |
+
177.22623031643226
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": -2.6179938779915037
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
720.0388248458692,
|
| 188 |
+
-1050.0316190762273,
|
| 189 |
+
177.22623031643226
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": -2.6179938779915037
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
717.4407486345158,
|
| 201 |
+
-1051.5316190762273,
|
| 202 |
+
177.22623031643226
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": -2.6179938779915037
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
714.8426724231624,
|
| 214 |
+
-1053.0316190762273,
|
| 215 |
+
177.22623031643226
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": -2.6179938779915037
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
712.244596211809,
|
| 227 |
+
-1054.5316190762273,
|
| 228 |
+
177.22623031643226
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": -2.6179938779915037
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
709.6465200004557,
|
| 240 |
+
-1056.0316190762273,
|
| 241 |
+
177.22623031643226
|
| 242 |
+
],
|
| 243 |
+
"type": "turn left",
|
| 244 |
+
"value": 30,
|
| 245 |
+
"yaw": -2.6179938779915037
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
709.6465200004557,
|
| 253 |
+
-1056.0316190762273,
|
| 254 |
+
177.22623031643226
|
| 255 |
+
],
|
| 256 |
+
"type": "go straight",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": -2.094395102393205
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
708.1465200004557,
|
| 266 |
+
-1058.6296952875807,
|
| 267 |
+
177.22623031643226
|
| 268 |
+
],
|
| 269 |
+
"type": "go straight",
|
| 270 |
+
"value": 3,
|
| 271 |
+
"yaw": -2.094395102393186
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
706.6465200004557,
|
| 279 |
+
-1061.227771498934,
|
| 280 |
+
177.22623031643226
|
| 281 |
+
],
|
| 282 |
+
"type": "go straight",
|
| 283 |
+
"value": 3,
|
| 284 |
+
"yaw": -2.094395102393186
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"action": {
|
| 289 |
+
"imageid": 22,
|
| 290 |
+
"pos": [
|
| 291 |
+
705.1465200004557,
|
| 292 |
+
-1063.8258477102875,
|
| 293 |
+
177.22623031643226
|
| 294 |
+
],
|
| 295 |
+
"type": "go straight",
|
| 296 |
+
"value": 3,
|
| 297 |
+
"yaw": -2.094395102393186
|
| 298 |
+
}
|
| 299 |
+
}
|
| 300 |
+
{
|
| 301 |
+
"action": {
|
| 302 |
+
"imageid": 23,
|
| 303 |
+
"pos": [
|
| 304 |
+
703.6465200004557,
|
| 305 |
+
-1066.4239239216408,
|
| 306 |
+
177.22623031643226
|
| 307 |
+
],
|
| 308 |
+
"type": "go straight",
|
| 309 |
+
"value": 3,
|
| 310 |
+
"yaw": -2.094395102393186
|
| 311 |
+
}
|
| 312 |
+
}
|
| 313 |
+
{
|
| 314 |
+
"action": {
|
| 315 |
+
"imageid": 24,
|
| 316 |
+
"pos": [
|
| 317 |
+
702.1465200004557,
|
| 318 |
+
-1069.0220001329942,
|
| 319 |
+
177.22623031643226
|
| 320 |
+
],
|
| 321 |
+
"type": "go straight",
|
| 322 |
+
"value": 3,
|
| 323 |
+
"yaw": -2.094395102393186
|
| 324 |
+
}
|
| 325 |
+
}
|
| 326 |
+
{
|
| 327 |
+
"action": {
|
| 328 |
+
"imageid": 25,
|
| 329 |
+
"pos": [
|
| 330 |
+
700.6465200004557,
|
| 331 |
+
-1071.6200763443476,
|
| 332 |
+
177.22623031643226
|
| 333 |
+
],
|
| 334 |
+
"type": "go straight",
|
| 335 |
+
"value": 3,
|
| 336 |
+
"yaw": -2.094395102393186
|
| 337 |
+
}
|
| 338 |
+
}
|
| 339 |
+
{
|
| 340 |
+
"action": {
|
| 341 |
+
"imageid": 26,
|
| 342 |
+
"pos": [
|
| 343 |
+
699.1465200004557,
|
| 344 |
+
-1074.218152555701,
|
| 345 |
+
177.22623031643226
|
| 346 |
+
],
|
| 347 |
+
"type": "stop",
|
| 348 |
+
"value": 0,
|
| 349 |
+
"yaw": -2.094395102393186
|
| 350 |
+
}
|
| 351 |
+
}
|
| 352 |
+
{
|
| 353 |
+
"aim_landmark": {
|
| 354 |
+
"color": "test",
|
| 355 |
+
"feature": "test",
|
| 356 |
+
"position": [
|
| 357 |
+
684.0,
|
| 358 |
+
-1088.0,
|
| 359 |
+
165.83
|
| 360 |
+
],
|
| 361 |
+
"shape": "test",
|
| 362 |
+
"dir": "center",
|
| 363 |
+
"size": "test",
|
| 364 |
+
"type": "building"
|
| 365 |
+
}
|
| 366 |
+
}
|
Image/env_airsim_sh/astar_data/high_short/2025-1-10_23-20-28_2123016228/pose.jsonl
ADDED
|
@@ -0,0 +1,158 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
918.5695984153895,
|
| 6 |
+
-1764.4960577420177,
|
| 7 |
+
177.22623031643226
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": -2.6179938779915037
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
915.9715222040361,
|
| 19 |
+
-1765.9960577420177,
|
| 20 |
+
177.22623031643226
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": -2.6179938779915037
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
913.3734459926827,
|
| 32 |
+
-1767.4960577420177,
|
| 33 |
+
177.22623031643226
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": -2.6179938779915037
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
910.7753697813293,
|
| 45 |
+
-1768.9960577420177,
|
| 46 |
+
177.22623031643226
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": -2.6179938779915037
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
908.177293569976,
|
| 58 |
+
-1770.4960577420177,
|
| 59 |
+
177.22623031643226
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": -2.6179938779915037
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
905.5792173586226,
|
| 71 |
+
-1771.9960577420177,
|
| 72 |
+
177.22623031643226
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": -2.6179938779915037
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
902.9811411472692,
|
| 84 |
+
-1773.4960577420177,
|
| 85 |
+
177.22623031643226
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": -2.6179938779915037
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
900.3830649359159,
|
| 97 |
+
-1774.9960577420177,
|
| 98 |
+
177.22623031643226
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": -2.6179938779915037
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
897.7849887245625,
|
| 110 |
+
-1776.4960577420177,
|
| 111 |
+
177.22623031643226
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": -2.6179938779915037
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
895.1869125132091,
|
| 123 |
+
-1777.9960577420177,
|
| 124 |
+
177.22623031643226
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": -2.6179938779915037
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
892.5888363018557,
|
| 136 |
+
-1779.4960577420177,
|
| 137 |
+
177.22623031643226
|
| 138 |
+
],
|
| 139 |
+
"type": "stop",
|
| 140 |
+
"value": 0,
|
| 141 |
+
"yaw": -2.6179938779915037
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"aim_landmark": {
|
| 146 |
+
"color": "test",
|
| 147 |
+
"feature": "test",
|
| 148 |
+
"position": [
|
| 149 |
+
836.0,
|
| 150 |
+
-1808.0,
|
| 151 |
+
165.105
|
| 152 |
+
],
|
| 153 |
+
"shape": "test",
|
| 154 |
+
"dir": "center",
|
| 155 |
+
"size": "test",
|
| 156 |
+
"type": "building"
|
| 157 |
+
}
|
| 158 |
+
}
|
Image/env_airsim_sh/astar_data/high_short/2025-1-10_23-23-42_2032363193/pose.jsonl
ADDED
|
@@ -0,0 +1,314 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
802.4414464665302,
|
| 6 |
+
-1719.2042557824504,
|
| 7 |
+
177.22623031643226
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": -1.0471975511966072
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
803.9414464665302,
|
| 19 |
+
-1721.8023319938038,
|
| 20 |
+
177.22623031643226
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": -1.0471975511966072
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
805.4414464665302,
|
| 32 |
+
-1724.4004082051572,
|
| 33 |
+
177.22623031643226
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": -1.0471975511966072
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
806.9414464665302,
|
| 45 |
+
-1726.9984844165106,
|
| 46 |
+
177.22623031643226
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": -1.0471975511966072
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
808.4414464665302,
|
| 58 |
+
-1729.596560627864,
|
| 59 |
+
177.22623031643226
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": -1.0471975511966072
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
809.9414464665302,
|
| 71 |
+
-1732.1946368392173,
|
| 72 |
+
177.22623031643226
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": -1.0471975511966072
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
811.4414464665302,
|
| 84 |
+
-1734.7927130505707,
|
| 85 |
+
177.22623031643226
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": -1.0471975511966072
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
812.9414464665302,
|
| 97 |
+
-1737.390789261924,
|
| 98 |
+
177.22623031643226
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": -1.0471975511966072
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
814.4414464665302,
|
| 110 |
+
-1739.9888654732774,
|
| 111 |
+
177.22623031643226
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": -1.0471975511966072
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
815.9414464665302,
|
| 123 |
+
-1742.5869416846308,
|
| 124 |
+
177.22623031643226
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": -1.0471975511966072
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
817.4414464665302,
|
| 136 |
+
-1745.1850178959842,
|
| 137 |
+
177.22623031643226
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": -1.0471975511966072
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
818.9414464665302,
|
| 149 |
+
-1747.7830941073375,
|
| 150 |
+
177.22623031643226
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": -1.0471975511966072
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
820.4414464665302,
|
| 162 |
+
-1750.381170318691,
|
| 163 |
+
177.22623031643226
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": -1.0471975511966072
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
821.9414464665302,
|
| 175 |
+
-1752.9792465300443,
|
| 176 |
+
177.22623031643226
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": -1.0471975511966072
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
823.4414464665302,
|
| 188 |
+
-1755.5773227413977,
|
| 189 |
+
177.22623031643226
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": -1.0471975511966072
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
824.9414464665302,
|
| 201 |
+
-1758.175398952751,
|
| 202 |
+
177.22623031643226
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": -1.0471975511966072
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
826.4414464665302,
|
| 214 |
+
-1760.7734751641044,
|
| 215 |
+
177.22623031643226
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": -1.0471975511966072
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
827.9414464665302,
|
| 227 |
+
-1763.3715513754578,
|
| 228 |
+
177.22623031643226
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": -1.0471975511966072
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
829.4414464665302,
|
| 240 |
+
-1765.9696275868112,
|
| 241 |
+
177.22623031643226
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": -1.0471975511966072
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
830.9414464665302,
|
| 253 |
+
-1768.5677037981645,
|
| 254 |
+
177.22623031643226
|
| 255 |
+
],
|
| 256 |
+
"type": "go straight",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": -1.0471975511966072
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
832.4414464665302,
|
| 266 |
+
-1771.165780009518,
|
| 267 |
+
177.22623031643226
|
| 268 |
+
],
|
| 269 |
+
"type": "go straight",
|
| 270 |
+
"value": 3,
|
| 271 |
+
"yaw": -1.0471975511966072
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
833.9414464665302,
|
| 279 |
+
-1773.7638562208713,
|
| 280 |
+
177.22623031643226
|
| 281 |
+
],
|
| 282 |
+
"type": "go straight",
|
| 283 |
+
"value": 3,
|
| 284 |
+
"yaw": -1.0471975511966072
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"action": {
|
| 289 |
+
"imageid": 22,
|
| 290 |
+
"pos": [
|
| 291 |
+
835.4414464665302,
|
| 292 |
+
-1776.3619324322246,
|
| 293 |
+
177.22623031643226
|
| 294 |
+
],
|
| 295 |
+
"type": "stop",
|
| 296 |
+
"value": 0,
|
| 297 |
+
"yaw": -1.0471975511966072
|
| 298 |
+
}
|
| 299 |
+
}
|
| 300 |
+
{
|
| 301 |
+
"aim_landmark": {
|
| 302 |
+
"color": "test",
|
| 303 |
+
"feature": "test",
|
| 304 |
+
"position": [
|
| 305 |
+
844.0,
|
| 306 |
+
-1788.0,
|
| 307 |
+
165.84
|
| 308 |
+
],
|
| 309 |
+
"shape": "test",
|
| 310 |
+
"dir": "center",
|
| 311 |
+
"size": "test",
|
| 312 |
+
"type": "building"
|
| 313 |
+
}
|
| 314 |
+
}
|
Image/env_airsim_sh/astar_data/high_short/2025-1-10_23-39-59_2063018202/pose.jsonl
ADDED
|
@@ -0,0 +1,405 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
226.67452413004102,
|
| 6 |
+
305.461080274919,
|
| 7 |
+
177.22623031643226
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": -2.0943951023931953
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
225.17452413004102,
|
| 19 |
+
302.8630040635657,
|
| 20 |
+
177.22623031643226
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": -2.0943951023931953
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
223.67452413004102,
|
| 32 |
+
300.2649278522124,
|
| 33 |
+
177.22623031643226
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": -2.0943951023931953
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
222.17452413004102,
|
| 45 |
+
297.6668516408591,
|
| 46 |
+
177.22623031643226
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": -2.0943951023931953
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
220.67452413004102,
|
| 58 |
+
295.06877542950576,
|
| 59 |
+
177.22623031643226
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": -2.0943951023931953
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
219.17452413004102,
|
| 71 |
+
292.47069921815245,
|
| 72 |
+
177.22623031643226
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": -2.0943951023931953
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
217.67452413004102,
|
| 84 |
+
289.87262300679913,
|
| 85 |
+
177.22623031643226
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": -2.0943951023931953
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
216.17452413004102,
|
| 97 |
+
287.2745467954458,
|
| 98 |
+
177.22623031643226
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": -2.0943951023931953
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
214.67452413004102,
|
| 110 |
+
284.6764705840925,
|
| 111 |
+
177.22623031643226
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": -2.0943951023931953
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
213.17452413004102,
|
| 123 |
+
282.0783943727392,
|
| 124 |
+
177.22623031643226
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": -2.0943951023931953
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
211.67452413004102,
|
| 136 |
+
279.48031816138587,
|
| 137 |
+
177.22623031643226
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": -2.0943951023931953
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
210.17452413004102,
|
| 149 |
+
276.88224195003255,
|
| 150 |
+
177.22623031643226
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": -2.0943951023931953
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
208.67452413004102,
|
| 162 |
+
274.28416573867923,
|
| 163 |
+
177.22623031643226
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": -2.0943951023931953
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
207.17452413004102,
|
| 175 |
+
271.6860895273259,
|
| 176 |
+
177.22623031643226
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": -2.0943951023931953
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
205.67452413004102,
|
| 188 |
+
269.0880133159726,
|
| 189 |
+
177.22623031643226
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": -2.0943951023931953
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
204.17452413004102,
|
| 201 |
+
266.4899371046193,
|
| 202 |
+
177.22623031643226
|
| 203 |
+
],
|
| 204 |
+
"type": "turn left",
|
| 205 |
+
"value": 30,
|
| 206 |
+
"yaw": -2.0943951023931953
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
204.17452413004102,
|
| 214 |
+
266.4899371046193,
|
| 215 |
+
177.22623031643226
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": -1.5707963267948966
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
204.17452413004102,
|
| 227 |
+
263.4899371046193,
|
| 228 |
+
177.22623031643226
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": -1.5707963267948966
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
204.17452413004102,
|
| 240 |
+
260.4899371046193,
|
| 241 |
+
177.22623031643226
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": -1.5707963267948966
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
204.17452413004102,
|
| 253 |
+
257.4899371046193,
|
| 254 |
+
177.22623031643226
|
| 255 |
+
],
|
| 256 |
+
"type": "go straight",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": -1.5707963267948966
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
204.17452413004102,
|
| 266 |
+
254.4899371046193,
|
| 267 |
+
177.22623031643226
|
| 268 |
+
],
|
| 269 |
+
"type": "go straight",
|
| 270 |
+
"value": 3,
|
| 271 |
+
"yaw": -1.5707963267948966
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
204.17452413004102,
|
| 279 |
+
251.4899371046193,
|
| 280 |
+
177.22623031643226
|
| 281 |
+
],
|
| 282 |
+
"type": "go straight",
|
| 283 |
+
"value": 3,
|
| 284 |
+
"yaw": -1.5707963267948966
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"action": {
|
| 289 |
+
"imageid": 22,
|
| 290 |
+
"pos": [
|
| 291 |
+
204.17452413004102,
|
| 292 |
+
248.4899371046193,
|
| 293 |
+
177.22623031643226
|
| 294 |
+
],
|
| 295 |
+
"type": "go straight",
|
| 296 |
+
"value": 3,
|
| 297 |
+
"yaw": -1.5707963267948966
|
| 298 |
+
}
|
| 299 |
+
}
|
| 300 |
+
{
|
| 301 |
+
"action": {
|
| 302 |
+
"imageid": 23,
|
| 303 |
+
"pos": [
|
| 304 |
+
204.17452413004102,
|
| 305 |
+
245.4899371046193,
|
| 306 |
+
177.22623031643226
|
| 307 |
+
],
|
| 308 |
+
"type": "go straight",
|
| 309 |
+
"value": 3,
|
| 310 |
+
"yaw": -1.5707963267948966
|
| 311 |
+
}
|
| 312 |
+
}
|
| 313 |
+
{
|
| 314 |
+
"action": {
|
| 315 |
+
"imageid": 24,
|
| 316 |
+
"pos": [
|
| 317 |
+
204.17452413004102,
|
| 318 |
+
242.4899371046193,
|
| 319 |
+
177.22623031643226
|
| 320 |
+
],
|
| 321 |
+
"type": "go straight",
|
| 322 |
+
"value": 3,
|
| 323 |
+
"yaw": -1.5707963267948966
|
| 324 |
+
}
|
| 325 |
+
}
|
| 326 |
+
{
|
| 327 |
+
"action": {
|
| 328 |
+
"imageid": 25,
|
| 329 |
+
"pos": [
|
| 330 |
+
204.17452413004102,
|
| 331 |
+
239.4899371046193,
|
| 332 |
+
177.22623031643226
|
| 333 |
+
],
|
| 334 |
+
"type": "go straight",
|
| 335 |
+
"value": 3,
|
| 336 |
+
"yaw": -1.5707963267948966
|
| 337 |
+
}
|
| 338 |
+
}
|
| 339 |
+
{
|
| 340 |
+
"action": {
|
| 341 |
+
"imageid": 26,
|
| 342 |
+
"pos": [
|
| 343 |
+
204.17452413004102,
|
| 344 |
+
236.4899371046193,
|
| 345 |
+
177.22623031643226
|
| 346 |
+
],
|
| 347 |
+
"type": "go straight",
|
| 348 |
+
"value": 3,
|
| 349 |
+
"yaw": -1.5707963267948966
|
| 350 |
+
}
|
| 351 |
+
}
|
| 352 |
+
{
|
| 353 |
+
"action": {
|
| 354 |
+
"imageid": 27,
|
| 355 |
+
"pos": [
|
| 356 |
+
204.17452413004102,
|
| 357 |
+
233.4899371046193,
|
| 358 |
+
177.22623031643226
|
| 359 |
+
],
|
| 360 |
+
"type": "go straight",
|
| 361 |
+
"value": 3,
|
| 362 |
+
"yaw": -1.5707963267948966
|
| 363 |
+
}
|
| 364 |
+
}
|
| 365 |
+
{
|
| 366 |
+
"action": {
|
| 367 |
+
"imageid": 28,
|
| 368 |
+
"pos": [
|
| 369 |
+
204.17452413004102,
|
| 370 |
+
230.4899371046193,
|
| 371 |
+
177.22623031643226
|
| 372 |
+
],
|
| 373 |
+
"type": "go straight",
|
| 374 |
+
"value": 3,
|
| 375 |
+
"yaw": -1.5707963267948966
|
| 376 |
+
}
|
| 377 |
+
}
|
| 378 |
+
{
|
| 379 |
+
"action": {
|
| 380 |
+
"imageid": 29,
|
| 381 |
+
"pos": [
|
| 382 |
+
204.17452413004102,
|
| 383 |
+
227.4899371046193,
|
| 384 |
+
177.22623031643226
|
| 385 |
+
],
|
| 386 |
+
"type": "stop",
|
| 387 |
+
"value": 0,
|
| 388 |
+
"yaw": -1.5707963267948966
|
| 389 |
+
}
|
| 390 |
+
}
|
| 391 |
+
{
|
| 392 |
+
"aim_landmark": {
|
| 393 |
+
"color": "test",
|
| 394 |
+
"feature": "test",
|
| 395 |
+
"position": [
|
| 396 |
+
200.0,
|
| 397 |
+
216.0,
|
| 398 |
+
361.985
|
| 399 |
+
],
|
| 400 |
+
"shape": "test",
|
| 401 |
+
"dir": "center",
|
| 402 |
+
"size": "test",
|
| 403 |
+
"type": "building"
|
| 404 |
+
}
|
| 405 |
+
}
|
Image/env_airsim_sh/astar_data/high_short/2025-1-10_23-47-59_1255035368/pose.jsonl
ADDED
|
@@ -0,0 +1,236 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
771.2921642165239,
|
| 6 |
+
-1494.0320210669763,
|
| 7 |
+
177.22623031643226
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": -1.0471975511966072
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
772.7921642165239,
|
| 19 |
+
-1496.6300972783297,
|
| 20 |
+
177.22623031643226
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": -1.0471975511966072
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
774.2921642165239,
|
| 32 |
+
-1499.228173489683,
|
| 33 |
+
177.22623031643226
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": -1.0471975511966072
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
775.7921642165239,
|
| 45 |
+
-1501.8262497010364,
|
| 46 |
+
177.22623031643226
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": -1.0471975511966072
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
777.2921642165239,
|
| 58 |
+
-1504.4243259123898,
|
| 59 |
+
177.22623031643226
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": -1.0471975511966072
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
778.7921642165239,
|
| 71 |
+
-1507.0224021237432,
|
| 72 |
+
177.22623031643226
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": -1.0471975511966072
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
780.2921642165239,
|
| 84 |
+
-1509.6204783350965,
|
| 85 |
+
177.22623031643226
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": -1.0471975511966072
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
781.7921642165239,
|
| 97 |
+
-1512.21855454645,
|
| 98 |
+
177.22623031643226
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": -1.0471975511966072
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
783.2921642165239,
|
| 110 |
+
-1514.8166307578033,
|
| 111 |
+
177.22623031643226
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": -1.0471975511966072
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
784.7921642165239,
|
| 123 |
+
-1517.4147069691567,
|
| 124 |
+
177.22623031643226
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": -1.0471975511966072
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
786.2921642165239,
|
| 136 |
+
-1520.01278318051,
|
| 137 |
+
177.22623031643226
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": -1.0471975511966072
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
787.7921642165239,
|
| 149 |
+
-1522.6108593918634,
|
| 150 |
+
177.22623031643226
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": -1.0471975511966072
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
789.2921642165239,
|
| 162 |
+
-1525.2089356032168,
|
| 163 |
+
177.22623031643226
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": -1.0471975511966072
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
790.7921642165239,
|
| 175 |
+
-1527.8070118145702,
|
| 176 |
+
177.22623031643226
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": -1.0471975511966072
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
792.2921642165239,
|
| 188 |
+
-1530.4050880259235,
|
| 189 |
+
177.22623031643226
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": -1.0471975511966072
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
793.7921642165239,
|
| 201 |
+
-1533.003164237277,
|
| 202 |
+
177.22623031643226
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": -1.0471975511966072
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
795.2921642165239,
|
| 214 |
+
-1535.6012404486303,
|
| 215 |
+
177.22623031643226
|
| 216 |
+
],
|
| 217 |
+
"type": "stop",
|
| 218 |
+
"value": 0,
|
| 219 |
+
"yaw": -1.0471975511966072
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"aim_landmark": {
|
| 224 |
+
"color": "test",
|
| 225 |
+
"feature": "test",
|
| 226 |
+
"position": [
|
| 227 |
+
812.0,
|
| 228 |
+
-1560.0,
|
| 229 |
+
163.632
|
| 230 |
+
],
|
| 231 |
+
"shape": "test",
|
| 232 |
+
"dir": "center",
|
| 233 |
+
"size": "test",
|
| 234 |
+
"type": "building"
|
| 235 |
+
}
|
| 236 |
+
}
|