diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-13-24_669908538/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-13-24_669908538/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4ea951f43c0009e6f38616ce3d08bfd6768aa462 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-13-24_669908538/pose.jsonl @@ -0,0 +1,391 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1278.8462427130892, + -180.57312241127462, + -9.745115679970176 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1281.8462427130892, + -180.57312241127462, + -9.745115679970176 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1284.8462427130892, + -180.57312241127462, + -9.745115679970176 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1284.8462427130892, + -180.57312241127462, + -9.745115679970176 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1284.8462427130892, + -180.57312241127462, + -9.745115679970176 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1286.3462427130892, + -183.17119862262794, + -9.745115679970176 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1287.8462427130892, + -185.76927483398126, + -9.745115679970176 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1289.3462427130892, + -188.36735104533457, + -9.745115679970176 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1290.8462427130892, + -190.9654272566879, + -9.745115679970176 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1292.3462427130892, + -193.5635034680412, + -9.745115679970176 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1293.8462427130892, + -196.16157967939452, + -9.745115679970176 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1295.3462427130892, + -198.75965589074784, + -9.745115679970176 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1296.8462427130892, + -201.35773210210115, + -9.745115679970176 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1298.3462427130892, + -203.95580831345447, + -9.745115679970176 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1299.8462427130892, + -206.55388452480778, + -9.745115679970176 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1301.3462427130892, + -209.1519607361611, + -9.745115679970176 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1302.8462427130892, + -211.75003694751442, + -9.745115679970176 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1304.3462427130892, + -214.34811315886773, + -9.745115679970176 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1304.3462427130892, + -214.34811315886773, + -9.745115679970176 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1306.9443189244425, + -215.84811315886773, + -9.745115679970176 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1309.542395135796, + -217.34811315886773, + -9.745115679970176 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1312.1404713471493, + -218.84811315886773, + -9.745115679970176 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1314.7385475585027, + -220.34811315886773, + -9.745115679970176 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1317.336623769856, + -221.84811315886773, + -9.745115679970176 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1319.9346999812094, + -223.34811315886773, + -9.745115679970176 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1322.5327761925628, + -224.84811315886773, + -9.745115679970176 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1325.1308524039162, + -226.34811315886773, + -9.745115679970176 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1327.7289286152695, + -227.84811315886773, + -9.745115679970176 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1330.327004826623, + -229.34811315886773, + -9.745115679970176 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1332.318264770508, + -228.70366058349612, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-24-28_1061730690/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-24-28_1061730690/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ad39b2b948e9c3345178c7baa35561e1f336d9b7 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-24-28_1061730690/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 78.89684549683602, + -37.96916631267067, + -0.8615601558368784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 76.2987692854827, + -39.46916631267067, + -0.8615601558368784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 73.70069307412939, + -40.96916631267067, + -0.8615601558368784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 71.10261686277607, + -42.46916631267067, + -0.8615601558368784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 68.50454065142276, + -43.96916631267067, + -0.8615601558368784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 65.90646444006944, + -45.46916631267067, + -0.8615601558368784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 63.308388228716126, + -46.96916631267067, + -0.8615601558368784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 60.71031201736281, + -48.46916631267067, + -0.8615601558368784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 58.112235806009494, + -49.96916631267067, + -0.8615601558368784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 55.51415959465618, + -51.46916631267067, + -0.8615601558368784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 52.91608338330286, + -52.96916631267067, + -0.8615601558368784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 50.318007171949546, + -54.46916631267067, + -0.8615601558368784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 47.71993096059623, + -55.96916631267067, + -0.8615601558368784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 45.121854749242914, + -57.46916631267067, + -0.8615601558368784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 42.5237785378896, + -58.96916631267067, + -0.8615601558368784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 39.92570232653628, + -60.46916631267067, + -0.8615601558368784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 37.327626115182966, + -61.96916631267067, + -0.8615601558368784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 34.72954990382965, + -63.46916631267067, + -0.8615601558368784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 32.131473692476334, + -64.96916631267067, + -0.8615601558368784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 29.533397481123018, + -66.46916631267067, + -0.8615601558368784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 26.9353212697697, + -67.96916631267067, + -0.8615601558368784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 24.337245058416386, + -69.46916631267067, + -0.8615601558368784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 21.73916884706307, + -70.96916631267067, + -0.8615601558368784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 19.141092635709754, + -72.46916631267067, + -0.8615601558368784 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 17.12450046539307, + -73.06071357727052, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-32-25_1095966189/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-32-25_1095966189/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0a028c7ca0b6210006da25e6c800a89dfa051551 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-32-25_1095966189/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1356.0515036721958, + 145.31973454389345, + -5.607186445505651 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1354.5515036721958, + 147.91781075524676, + -5.607186445505651 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1353.0515036721958, + 150.51588696660008, + -5.607186445505651 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1351.5515036721958, + 153.1139631779534, + -5.607186445505651 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1350.0515036721958, + 155.7120393893067, + -5.607186445505651 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1348.5515036721958, + 158.31011560066003, + -5.607186445505651 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1347.0515036721958, + 160.90819181201334, + -5.607186445505651 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1345.5515036721958, + 163.50626802336666, + -5.607186445505651 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1344.0515036721958, + 166.10434423471997, + -5.607186445505651 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1342.5515036721958, + 168.7024204460733, + -5.607186445505651 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1341.0515036721958, + 171.3004966574266, + -5.607186445505651 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1339.5515036721958, + 173.89857286877992, + -5.607186445505651 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1338.0515036721958, + 176.49664908013324, + -5.607186445505651 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1336.5515036721958, + 179.09472529148655, + -5.607186445505651 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1335.0515036721958, + 181.69280150283987, + -5.607186445505651 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1333.5515036721958, + 184.2908777141932, + -5.607186445505651 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1332.0515036721958, + 186.8889539255465, + -5.607186445505651 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1332.0515036721958, + 186.8889539255465, + -5.607186445505651 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1329.4534274608425, + 188.3889539255465, + -5.607186445505651 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1326.855351249489, + 189.8889539255465, + -5.607186445505651 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1324.2572750381357, + 191.3889539255465, + -5.607186445505651 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1321.6591988267824, + 192.8889539255465, + -5.607186445505651 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1319.061122615429, + 194.3889539255465, + -5.607186445505651 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1318.4154022216799, + 197.2680404663086, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-44-41_1404196431/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-44-41_1404196431/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..beafc43b8ccdecafcc4ecad095b1dd7870bb1265 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-44-41_1404196431/pose.jsonl @@ -0,0 +1,300 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1454.368968130666, + 20.033887526202967, + -5.7437831655633245 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1452.868968130666, + 22.631963737556283, + -5.7437831655633245 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1451.368968130666, + 25.2300399489096, + -5.7437831655633245 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1449.868968130666, + 27.828116160262915, + -5.7437831655633245 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1448.368968130666, + 30.42619237161623, + -5.7437831655633245 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1446.868968130666, + 33.02426858296955, + -5.7437831655633245 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1445.368968130666, + 35.62234479432286, + -5.7437831655633245 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1443.868968130666, + 38.22042100567618, + -5.7437831655633245 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1442.368968130666, + 40.818497217029496, + -5.7437831655633245 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1440.868968130666, + 43.41657342838281, + -5.7437831655633245 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1439.368968130666, + 46.01464963973613, + -5.7437831655633245 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1437.868968130666, + 48.612725851089444, + -5.7437831655633245 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1436.368968130666, + 51.21080206244276, + -5.7437831655633245 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1434.868968130666, + 53.808878273796076, + -5.7437831655633245 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1433.368968130666, + 56.40695448514939, + -5.7437831655633245 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1433.368968130666, + 56.40695448514939, + -5.7437831655633245 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1433.368968130666, + 59.40695448514939, + -5.7437831655633245 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1433.368968130666, + 62.40695448514939, + -5.7437831655633245 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1433.368968130666, + 65.40695448514938, + -5.7437831655633245 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1433.368968130666, + 68.40695448514938, + -5.7437831655633245 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1433.368968130666, + 71.40695448514938, + -5.7437831655633245 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1433.368968130666, + 74.40695448514938, + -5.7437831655633245 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1432.5684967041016, + 76.17316565513612, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-5-21_1750003033/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-5-21_1750003033/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d07ade86553a2b85fabdf9aa6d0bee00a3789841 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-5-21_1750003033/pose.jsonl @@ -0,0 +1,248 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 396.096504926952, + 169.8936451583671, + -1.638841746995448 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 397.596504926952, + 172.4917213697204, + -1.638841746995448 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 399.096504926952, + 175.08979758107373, + -1.638841746995448 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 400.596504926952, + 177.68787379242704, + -1.638841746995448 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 402.096504926952, + 180.28595000378036, + -1.638841746995448 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 403.596504926952, + 182.88402621513367, + -1.638841746995448 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 405.096504926952, + 185.482102426487, + -1.638841746995448 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 406.596504926952, + 188.0801786378403, + -1.638841746995448 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 408.096504926952, + 190.67825484919362, + -1.638841746995448 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 409.596504926952, + 193.27633106054694, + -1.638841746995448 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 411.096504926952, + 195.87440727190025, + -1.638841746995448 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 412.596504926952, + 198.47248348325357, + -1.638841746995448 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 414.096504926952, + 201.07055969460689, + -1.638841746995448 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 415.596504926952, + 203.6686359059602, + -1.638841746995448 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 417.096504926952, + 206.26671211731352, + -1.638841746995448 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 418.596504926952, + 208.86478832866683, + -1.638841746995448 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 420.096504926952, + 211.46286454002015, + -1.638841746995448 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 421.596504926952, + 214.06094075137347, + -1.638841746995448 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 423.96591529846194, + 214.72956275939944, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-54-21_395279207/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-54-21_395279207/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7aea66273e502cd35660b3a41a967f194839a886 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-54-21_395279207/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -321.94159339983406, + -83.8863376431762, + -8.476642581431552 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -318.94159339983406, + -83.8863376431762, + -8.476642581431552 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -315.94159339983406, + -83.8863376431762, + -8.476642581431552 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -312.94159339983406, + -83.8863376431762, + -8.476642581431552 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -309.94159339983406, + -83.8863376431762, + -8.476642581431552 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -306.94159339983406, + -83.8863376431762, + -8.476642581431552 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -303.94159339983406, + -83.8863376431762, + -8.476642581431552 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -300.94159339983406, + -83.8863376431762, + -8.476642581431552 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -297.94159339983406, + -83.8863376431762, + -8.476642581431552 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -294.94159339983406, + -83.8863376431762, + -8.476642581431552 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -294.94159339983406, + -83.8863376431762, + -8.476642581431552 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -292.34351718848075, + -82.3863376431762, + -8.476642581431552 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -289.74544097712743, + -80.8863376431762, + -8.476642581431552 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -287.1473647657741, + -79.3863376431762, + -8.476642581431552 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -284.5492885544208, + -77.8863376431762, + -8.476642581431552 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -281.9512123430675, + -76.3863376431762, + -8.476642581431552 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -279.35313613171417, + -74.8863376431762, + -8.476642581431552 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -276.75505992036085, + -73.3863376431762, + -8.476642581431552 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -274.15698370900753, + -71.8863376431762, + -8.476642581431552 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -271.5589074976542, + -70.3863376431762, + -8.476642581431552 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -268.9608312863009, + -68.8863376431762, + -8.476642581431552 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -266.3627550749476, + -67.3863376431762, + -8.476642581431552 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -263.76467886359427, + -65.8863376431762, + -8.476642581431552 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -261.16660265224095, + -64.3863376431762, + -8.476642581431552 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -258.56852644088764, + -62.886337643176205, + -8.476642581431552 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -254.59913692474368, + -62.6346962928772, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-1-4_1124311574/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-1-4_1124311574/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5c8d3b795f1c39b84736686cbd2c1e4f97d1bddc --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-1-4_1124311574/pose.jsonl @@ -0,0 +1,53 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1024.7866781234247, + 85.83372466302454, + -8.59243008196008 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1023.2866781234247, + 88.43180087437786, + -8.59243008196008 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1021.7866781234247, + 91.02987708573117, + -8.59243008196008 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 993.6485565185548, + 138.21244525909424, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-1-50_703550253/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-1-50_703550253/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..43f050c3b318c77a26c1173e702a4040aec4e061 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-1-50_703550253/pose.jsonl @@ -0,0 +1,248 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 926.4642450615892, + -442.60855031554877, + -8.24564579785199 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 924.9642450615892, + -440.01047410419545, + -8.24564579785199 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 923.4642450615892, + -437.41239789284214, + -8.24564579785199 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 921.9642450615892, + -434.8143216814888, + -8.24564579785199 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 920.4642450615892, + -432.2162454701355, + -8.24564579785199 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 918.9642450615892, + -429.6181692587822, + -8.24564579785199 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 917.4642450615892, + -427.0200930474289, + -8.24564579785199 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 915.9642450615892, + -424.42201683607556, + -8.24564579785199 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 914.4642450615892, + -421.82394062472224, + -8.24564579785199 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 914.4642450615892, + -421.82394062472224, + -8.24564579785199 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 911.8661688502359, + -420.32394062472224, + -8.24564579785199 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 909.2680926388825, + -418.82394062472224, + -8.24564579785199 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 906.6700164275292, + -417.32394062472224, + -8.24564579785199 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 904.0719402161758, + -415.82394062472224, + -8.24564579785199 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 901.4738640048224, + -414.32394062472224, + -8.24564579785199 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 898.875787793469, + -412.82394062472224, + -8.24564579785199 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 896.2777115821157, + -411.32394062472224, + -8.24564579785199 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 893.6796353707623, + -409.82394062472224, + -8.24564579785199 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 874.085353088379, + -387.6059455871582, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-13-52_554290596/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-13-52_554290596/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..80db88e704e7c4894cda7b9a57aa616a8953ad83 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-13-52_554290596/pose.jsonl @@ -0,0 +1,287 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 320.455362161529, + -305.41024483561137, + -9.650738934182442 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 317.8572859501757, + -306.91024483561137, + -9.650738934182442 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 315.2592097388224, + -308.41024483561137, + -9.650738934182442 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 312.6611335274691, + -309.91024483561137, + -9.650738934182442 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 310.06305731611576, + -311.41024483561137, + -9.650738934182442 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 307.46498110476244, + -312.91024483561137, + -9.650738934182442 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 304.8669048934091, + -314.41024483561137, + -9.650738934182442 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 302.2688286820558, + -315.91024483561137, + -9.650738934182442 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 302.2688286820558, + -315.91024483561137, + -9.650738934182442 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 300.7688286820558, + -318.5083210469647, + -9.650738934182442 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 299.2688286820558, + -321.106397258318, + -9.650738934182442 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 297.7688286820558, + -323.7044734696713, + -9.650738934182442 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 296.2688286820558, + -326.30254968102463, + -9.650738934182442 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 294.7688286820558, + -328.90062589237795, + -9.650738934182442 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 293.2688286820558, + -331.49870210373126, + -9.650738934182442 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 291.7688286820558, + -334.0967783150846, + -9.650738934182442 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 290.2688286820558, + -336.6948545264379, + -9.650738934182442 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 288.7688286820558, + -339.2929307377912, + -9.650738934182442 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 288.7688286820558, + -339.2929307377912, + -9.650738934182442 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 288.7688286820558, + -339.2929307377912, + -9.650738934182442 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 285.7688286820558, + -339.2929307377912, + -9.650738934182442 + ], + "type": "stop", + "value": 0, + "yaw": -3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 284.2394945144654, + -340.45848770141606, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-17-41_1582152040/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-17-41_1582152040/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1d9c61454945d793624c3f6f4399997eba4f4f78 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-17-41_1582152040/pose.jsonl @@ -0,0 +1,274 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1312.2211697721593, + -196.0812290993656, + -8.927174487521105 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1309.623093560806, + -197.5812290993656, + -8.927174487521105 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1307.0250173494526, + -199.0812290993656, + -8.927174487521105 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1304.4269411380992, + -200.5812290993656, + -8.927174487521105 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1301.8288649267458, + -202.0812290993656, + -8.927174487521105 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1299.2307887153925, + -203.5812290993656, + -8.927174487521105 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1296.632712504039, + -205.0812290993656, + -8.927174487521105 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1294.0346362926857, + -206.5812290993656, + -8.927174487521105 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1291.4365600813323, + -208.0812290993656, + -8.927174487521105 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1288.838483869979, + -209.5812290993656, + -8.927174487521105 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1288.838483869979, + -209.5812290993656, + -8.927174487521105 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1287.338483869979, + -212.17930531071892, + -8.927174487521105 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1285.838483869979, + -214.77738152207223, + -8.927174487521105 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1284.338483869979, + -217.37545773342555, + -8.927174487521105 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1282.838483869979, + -219.97353394477886, + -8.927174487521105 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1281.338483869979, + -222.57161015613218, + -8.927174487521105 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1279.838483869979, + -225.1696863674855, + -8.927174487521105 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1278.338483869979, + -227.7677625788388, + -8.927174487521105 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1276.838483869979, + -230.36583879019213, + -8.927174487521105 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1275.338483869979, + -232.96391500154544, + -8.927174487521105 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1273.901252746582, + -233.9151123046875, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-30-18_1417076376/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-30-18_1417076376/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bfdfb1621d7a8abe3e913f302ee6f22e346946bc --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-30-18_1417076376/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 989.7222183960005, + 208.27286563092179, + -3.0433323943632544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 992.7222183960005, + 208.27286563092179, + -3.0433323943632544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 995.7222183960005, + 208.27286563092179, + -3.0433323943632544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 998.7222183960005, + 208.27286563092179, + -3.0433323943632544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1001.7222183960005, + 208.27286563092179, + -3.0433323943632544 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1001.7222183960005, + 208.27286563092179, + -3.0433323943632544 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1001.7222183960005, + 208.27286563092179, + -3.0433323943632544 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1003.2222183960005, + 205.67478941956847, + -3.0433323943632544 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1004.7222183960005, + 203.07671320821515, + -3.0433323943632544 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1006.2222183960005, + 200.47863699686184, + -3.0433323943632544 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1007.7222183960005, + 197.88056078550852, + -3.0433323943632544 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1009.2222183960005, + 195.2824845741552, + -3.0433323943632544 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1010.7222183960005, + 192.6844083628019, + -3.0433323943632544 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1012.2222183960005, + 190.08633215144857, + -3.0433323943632544 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1013.7222183960005, + 187.48825594009526, + -3.0433323943632544 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1015.2222183960005, + 184.89017972874194, + -3.0433323943632544 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1016.7222183960005, + 182.29210351738863, + -3.0433323943632544 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1018.2222183960005, + 179.6940273060353, + -3.0433323943632544 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1018.2222183960005, + 179.6940273060353, + -3.0433323943632544 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1020.8202946073538, + 178.1940273060353, + -3.0433323943632544 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1023.4183708187072, + 176.6940273060353, + -3.0433323943632544 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1026.0164470300606, + 175.1940273060353, + -3.0433323943632544 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1028.614523241414, + 173.6940273060353, + -3.0433323943632544 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1031.2125994527673, + 172.1940273060353, + -3.0433323943632544 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1033.8106756641207, + 170.6940273060353, + -3.0433323943632544 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1036.408751875474, + 169.1940273060353, + -3.0433323943632544 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1039.0068280868275, + 167.6940273060353, + -3.0433323943632544 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1048.2760719299317, + 161.26469898223877, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-59-28_413360099/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-59-28_413360099/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c708b08f0f6297d518f7afe7abf657fbb6a93dcd --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-59-28_413360099/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1299.8506846283, + -174.88651677455255, + -9.861476237475536 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1298.3506846283, + -177.48459298590586, + -9.861476237475536 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1296.8506846283, + -180.08266919725918, + -9.861476237475536 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1295.3506846283, + -182.6807454086125, + -9.861476237475536 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1293.8506846283, + -185.2788216199658, + -9.861476237475536 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1292.3506846283, + -187.87689783131913, + -9.861476237475536 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1290.8506846283, + -190.47497404267244, + -9.861476237475536 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1289.3506846283, + -193.07305025402576, + -9.861476237475536 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1287.8506846283, + -195.67112646537907, + -9.861476237475536 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1286.3506846283, + -198.2692026767324, + -9.861476237475536 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1284.8506846283, + -200.8672788880857, + -9.861476237475536 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1283.3506846283, + -203.46535509943902, + -9.861476237475536 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1281.8506846283, + -206.06343131079234, + -9.861476237475536 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1280.3506846283, + -208.66150752214566, + -9.861476237475536 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1278.8506846283, + -211.25958373349897, + -9.861476237475536 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1277.3506846283, + -213.8576599448523, + -9.861476237475536 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1275.8506846283, + -216.4557361562056, + -9.861476237475536 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1275.8506846283, + -216.4557361562056, + -9.861476237475536 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1275.8506846283, + -219.4557361562056, + -9.861476237475536 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1275.8506846283, + -222.4557361562056, + -9.861476237475536 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1275.8506846283, + -225.4557361562056, + -9.861476237475536 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1275.8506846283, + -228.4557361562056, + -9.861476237475536 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1275.8506846283, + -231.4557361562056, + -9.861476237475536 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1273.901252746582, + -233.9151123046875, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-14-53_672563970/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-14-53_672563970/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..adfc5055b65c107c99d88851d88bbf6b2dc0c1f4 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-14-53_672563970/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -188.56348437561408, + -412.00477708339974, + -5.907426375583608 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -185.56348437561408, + -412.00477708339974, + -5.907426375583608 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -182.56348437561408, + -412.00477708339974, + -5.907426375583608 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -179.56348437561408, + -412.00477708339974, + -5.907426375583608 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -176.56348437561408, + -412.00477708339974, + -5.907426375583608 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -173.56348437561408, + -412.00477708339974, + -5.907426375583608 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -170.56348437561408, + -412.00477708339974, + -5.907426375583608 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -167.56348437561408, + -412.00477708339974, + -5.907426375583608 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -164.56348437561408, + -412.00477708339974, + -5.907426375583608 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -161.56348437561408, + -412.00477708339974, + -5.907426375583608 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -161.56348437561408, + -412.00477708339974, + -5.907426375583608 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -158.96540816426077, + -410.50477708339974, + -5.907426375583608 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -156.36733195290745, + -409.00477708339974, + -5.907426375583608 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -153.76925574155413, + -407.50477708339974, + -5.907426375583608 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -151.17117953020082, + -406.00477708339974, + -5.907426375583608 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -148.5731033188475, + -404.50477708339974, + -5.907426375583608 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -145.97502710749418, + -403.00477708339974, + -5.907426375583608 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -143.37695089614087, + -401.50477708339974, + -5.907426375583608 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -140.77887468478755, + -400.00477708339974, + -5.907426375583608 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -138.18079847343424, + -398.50477708339974, + -5.907426375583608 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -135.58272226208092, + -397.00477708339974, + -5.907426375583608 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -135.58272226208092, + -397.00477708339974, + -5.907426375583608 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -132.58272226208092, + -397.00477708339974, + -5.907426375583608 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -129.16454372406008, + -397.39995117187505, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-28-42_1987323286/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-28-42_1987323286/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..547aa0af742d56f4b7132132bf663d4e19e07f44 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-28-42_1987323286/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 45.30076840784043, + -660.7523244198584, + -2.5442628232639164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 45.30076840784043, + -657.7523244198584, + -2.5442628232639164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 45.30076840784043, + -654.7523244198584, + -2.5442628232639164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 45.30076840784043, + -651.7523244198584, + -2.5442628232639164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 45.30076840784043, + -648.7523244198584, + -2.5442628232639164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 45.30076840784043, + -645.7523244198584, + -2.5442628232639164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 45.30076840784043, + -642.7523244198584, + -2.5442628232639164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 45.30076840784043, + -639.7523244198584, + -2.5442628232639164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 45.30076840784043, + -636.7523244198584, + -2.5442628232639164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 45.30076840784043, + -633.7523244198584, + -2.5442628232639164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 45.30076840784043, + -630.7523244198584, + -2.5442628232639164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 45.30076840784043, + -627.7523244198584, + -2.5442628232639164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 45.30076840784043, + -624.7523244198584, + -2.5442628232639164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 45.30076840784043, + -621.7523244198584, + -2.5442628232639164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 45.30076840784043, + -618.7523244198584, + -2.5442628232639164 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 45.30076840784043, + -618.7523244198584, + -2.5442628232639164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 43.80076840784043, + -616.1542482085051, + -2.5442628232639164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 42.30076840784043, + -613.5561719971518, + -2.5442628232639164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 40.80076840784043, + -610.9580957857984, + -2.5442628232639164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 39.30076840784043, + -608.360019574445, + -2.5442628232639164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 37.80076840784043, + -605.7619433630916, + -2.5442628232639164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 36.30076840784043, + -603.1638671517383, + -2.5442628232639164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 34.80076840784043, + -600.5657909403849, + -2.5442628232639164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 33.30076840784043, + -597.9677147290315, + -2.5442628232639164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 31.80076840784043, + -595.3696385176781, + -2.5442628232639164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 30.30076840784043, + -592.7715623063248, + -2.5442628232639164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 28.80076840784043, + -590.1734860949714, + -2.5442628232639164 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 29.783947944641117, + -587.6620632171631, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-28-56_213213171/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-28-56_213213171/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..28e3d230e650af38dcefc2ec5365e8e21ff03f1d --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-28-56_213213171/pose.jsonl @@ -0,0 +1,235 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1041.1931945224994, + 102.17694172728051, + -3.4495815658264304 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1038.595118311146, + 103.67694172728051, + -3.4495815658264304 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1035.9970420997927, + 105.17694172728051, + -3.4495815658264304 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1033.3989658884393, + 106.67694172728051, + -3.4495815658264304 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1030.800889677086, + 108.17694172728051, + -3.4495815658264304 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1028.2028134657326, + 109.67694172728051, + -3.4495815658264304 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1025.6047372543792, + 111.17694172728051, + -3.4495815658264304 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1023.0066610430258, + 112.67694172728051, + -3.4495815658264304 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1020.4085848316724, + 114.17694172728051, + -3.4495815658264304 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1017.8105086203191, + 115.67694172728051, + -3.4495815658264304 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1015.2124324089657, + 117.17694172728051, + -3.4495815658264304 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1012.6143561976123, + 118.67694172728051, + -3.4495815658264304 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1012.6143561976123, + 118.67694172728051, + -3.4495815658264304 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1011.1143561976123, + 121.27501793863382, + -3.4495815658264304 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1009.6143561976123, + 123.87309414998714, + -3.4495815658264304 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1008.1143561976123, + 126.47117036134046, + -3.4495815658264304 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1006.6143561976123, + 129.06924657269377, + -3.4495815658264304 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 993.6485565185548, + 138.21244525909424, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-35-42_373953666/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-35-42_373953666/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..25efab510e58a7ca629ffc2ba8ca1461d4991dbc --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-35-42_373953666/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 661.6232685813815, + -24.048751437164313, + -0.411293990904424 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 664.6232685813815, + -24.048751437164313, + -0.411293990904424 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 667.6232685813815, + -24.048751437164313, + -0.411293990904424 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 670.6232685813815, + -24.048751437164313, + -0.411293990904424 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 673.6232685813815, + -24.048751437164313, + -0.411293990904424 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 676.6232685813815, + -24.048751437164313, + -0.411293990904424 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 679.6232685813815, + -24.048751437164313, + -0.411293990904424 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 682.6232685813815, + -24.048751437164313, + -0.411293990904424 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 685.6232685813815, + -24.048751437164313, + -0.411293990904424 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 688.6232685813815, + -24.048751437164313, + -0.411293990904424 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 691.6232685813815, + -24.048751437164313, + -0.411293990904424 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 694.6232685813815, + -24.048751437164313, + -0.411293990904424 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 697.6232685813815, + -24.048751437164313, + -0.411293990904424 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 700.6232685813815, + -24.048751437164313, + -0.411293990904424 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 703.6232685813815, + -24.048751437164313, + -0.411293990904424 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 706.6232685813815, + -24.048751437164313, + -0.411293990904424 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 709.6232685813815, + -24.048751437164313, + -0.411293990904424 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 712.6232685813815, + -24.048751437164313, + -0.411293990904424 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 715.6232685813815, + -24.048751437164313, + -0.411293990904424 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 718.6232685813815, + -24.048751437164313, + -0.411293990904424 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 721.6232685813815, + -24.048751437164313, + -0.411293990904424 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 721.6232685813815, + -24.048751437164313, + -0.411293990904424 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 721.6232685813815, + -24.048751437164313, + -0.411293990904424 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 723.1232685813815, + -21.450675225810997, + -0.411293990904424 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 724.6232685813815, + -18.85259901445768, + -0.411293990904424 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 727.4186401367188, + -18.7204083442688, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-36-56_788380902/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-36-56_788380902/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d25be60fd06e0d6ab4dabab48bb803447a351461 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-36-56_788380902/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 293.8037543149219, + 83.35468440870793, + -5.762348038920269 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 292.3037543149219, + 85.95276062006124, + -5.762348038920269 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 290.8037543149219, + 88.55083683141456, + -5.762348038920269 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 289.3037543149219, + 91.14891304276787, + -5.762348038920269 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 287.8037543149219, + 93.74698925412119, + -5.762348038920269 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 286.3037543149219, + 96.3450654654745, + -5.762348038920269 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 284.8037543149219, + 98.94314167682782, + -5.762348038920269 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 283.3037543149219, + 101.54121788818114, + -5.762348038920269 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 281.8037543149219, + 104.13929409953445, + -5.762348038920269 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 280.3037543149219, + 106.73737031088777, + -5.762348038920269 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 278.8037543149219, + 109.33544652224109, + -5.762348038920269 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 277.3037543149219, + 111.9335227335944, + -5.762348038920269 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 275.8037543149219, + 114.53159894494772, + -5.762348038920269 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 274.3037543149219, + 117.12967515630103, + -5.762348038920269 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 272.8037543149219, + 119.72775136765435, + -5.762348038920269 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 271.3037543149219, + 122.32582757900767, + -5.762348038920269 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 269.8037543149219, + 124.92390379036098, + -5.762348038920269 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 268.3037543149219, + 127.5219800017143, + -5.762348038920269 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 266.8037543149219, + 130.1200562130676, + -5.762348038920269 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 265.3037543149219, + 132.71813242442093, + -5.762348038920269 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 263.8037543149219, + 135.31620863577425, + -5.762348038920269 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 262.3037543149219, + 137.91428484712756, + -5.762348038920269 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 260.8037543149219, + 140.51236105848088, + -5.762348038920269 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 258.26647663116455, + 142.7095600128174, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-40-7_997276125/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-40-7_997276125/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d00596e227b4458d1091f931d3dbaf692b04ed4d --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-40-7_997276125/pose.jsonl @@ -0,0 +1,196 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 529.9489753574085, + -274.8179844278269, + -4.420522332794887 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 527.3508991460551, + -273.3179844278269, + -4.420522332794887 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 524.7528229347017, + -271.8179844278269, + -4.420522332794887 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 522.1547467233484, + -270.3179844278269, + -4.420522332794887 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 519.556670511995, + -268.8179844278269, + -4.420522332794887 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 516.9585943006416, + -267.3179844278269, + -4.420522332794887 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 514.3605180892882, + -265.8179844278269, + -4.420522332794887 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 514.3605180892882, + -265.8179844278269, + -4.420522332794887 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 512.8605180892882, + -263.2199082164736, + -4.420522332794887 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 511.36051808928823, + -260.62183200512027, + -4.420522332794887 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 509.86051808928823, + -258.02375579376695, + -4.420522332794887 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 508.36051808928823, + -255.42567958241364, + -4.420522332794887 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 506.86051808928823, + -252.82760337106032, + -4.420522332794887 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 505.36051808928823, + -250.229527159707, + -4.420522332794887 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 485.3397609710694, + -231.23137340545657, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-8-48_1402492972/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-8-48_1402492972/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b18321f21e5e3670b30239dea3cac24dbc704658 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-8-48_1402492972/pose.jsonl @@ -0,0 +1,261 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1479.0004294080907, + -157.50965524744822, + -2.9119135838637824 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1476.4023531967373, + -159.00965524744822, + -2.9119135838637824 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1473.804276985384, + -160.50965524744822, + -2.9119135838637824 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1471.2062007740305, + -162.00965524744822, + -2.9119135838637824 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1468.6081245626772, + -163.50965524744822, + -2.9119135838637824 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1466.0100483513238, + -165.00965524744822, + -2.9119135838637824 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1463.4119721399704, + -166.50965524744822, + -2.9119135838637824 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1460.813895928617, + -168.00965524744822, + -2.9119135838637824 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1458.2158197172637, + -169.50965524744822, + -2.9119135838637824 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1455.6177435059103, + -171.00965524744822, + -2.9119135838637824 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1453.019667294557, + -172.50965524744822, + -2.9119135838637824 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1450.4215910832036, + -174.00965524744822, + -2.9119135838637824 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1447.8235148718502, + -175.50965524744822, + -2.9119135838637824 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1445.2254386604968, + -177.00965524744822, + -2.9119135838637824 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1442.6273624491434, + -178.50965524744822, + -2.9119135838637824 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1442.6273624491434, + -178.50965524744822, + -2.9119135838637824 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1441.1273624491434, + -181.10773145880154, + -2.9119135838637824 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1439.6273624491434, + -183.70580767015485, + -2.9119135838637824 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1438.1273624491434, + -186.30388388150817, + -2.9119135838637824 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1437.3104949951173, + -187.02000331878662, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_19-38-25_1433925857/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_19-38-25_1433925857/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..776c9f4c89ee21741547068fe580f8487f0ade72 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_19-38-25_1433925857/pose.jsonl @@ -0,0 +1,287 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 255.1518822129955, + -257.0721563982655, + -6.5214149438296065 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 253.6518822129955, + -254.4740801869122, + -6.5214149438296065 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 252.1518822129955, + -251.8760039755589, + -6.5214149438296065 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 250.6518822129955, + -249.27792776420557, + -6.5214149438296065 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 249.1518822129955, + -246.67985155285226, + -6.5214149438296065 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 247.6518822129955, + -244.08177534149894, + -6.5214149438296065 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 246.1518822129955, + -241.48369913014562, + -6.5214149438296065 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 244.6518822129955, + -238.8856229187923, + -6.5214149438296065 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 243.1518822129955, + -236.287546707439, + -6.5214149438296065 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 241.6518822129955, + -233.68947049608568, + -6.5214149438296065 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 241.6518822129955, + -233.68947049608568, + -6.5214149438296065 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 241.6518822129955, + -230.68947049608568, + -6.5214149438296065 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 241.6518822129955, + -227.68947049608568, + -6.5214149438296065 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 241.6518822129955, + -224.68947049608568, + -6.5214149438296065 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 241.6518822129955, + -221.68947049608568, + -6.5214149438296065 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 241.6518822129955, + -218.68947049608568, + -6.5214149438296065 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 241.6518822129955, + -215.68947049608568, + -6.5214149438296065 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 241.6518822129955, + -212.68947049608568, + -6.5214149438296065 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 241.6518822129955, + -209.68947049608568, + -6.5214149438296065 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 241.6518822129955, + -206.68947049608568, + -6.5214149438296065 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 241.6518822129955, + -203.68947049608568, + -6.5214149438296065 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 241.1424083709717, + -202.41772613525393, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_19-44-30_1749698586/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_19-44-30_1749698586/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..54fda571b29c874db7b6a84a2690373a65ea1839 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_19-44-30_1749698586/pose.jsonl @@ -0,0 +1,131 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 979.6028358071007, + -429.7285467699783, + -9.683417156509945 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 977.0047595957474, + -428.2285467699783, + -9.683417156509945 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 974.406683384394, + -426.7285467699783, + -9.683417156509945 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 971.8086071730406, + -425.2285467699783, + -9.683417156509945 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 969.2105309616873, + -423.7285467699783, + -9.683417156509945 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 966.6124547503339, + -422.2285467699783, + -9.683417156509945 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 964.0143785389805, + -420.7285467699783, + -9.683417156509945 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 961.4163023276271, + -419.2285467699783, + -9.683417156509945 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 958.8182261162738, + -417.7285467699783, + -9.683417156509945 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 927.2414848327637, + -404.25602226257325, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_19-49-49_1063958031/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_19-49-49_1063958031/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..537c1ca149ebad147f0c469972e0cdd714a47b90 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_19-49-49_1063958031/pose.jsonl @@ -0,0 +1,53 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1151.2234929751282, + -261.5476027754291, + -5.449306955225946 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1149.7234929751282, + -258.94952656407577, + -5.449306955225946 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1148.2234929751282, + -256.35145035272245, + -5.449306955225946 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1136.0676353454592, + -208.6565689086914, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-0-47_1275373743/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-0-47_1275373743/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..993232496da8b78111c1b1a412bcdea45275f443 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-0-47_1275373743/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -4.817245903287244, + 67.11886962491691, + -2.205344489829737 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -3.3172459032872434, + 64.5207934135636, + -2.205344489829737 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1.817245903287243, + 61.92271720221028, + -2.205344489829737 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -0.31724590328724256, + 59.32464099085696, + -2.205344489829737 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1.1827540967127579, + 56.72656477950365, + -2.205344489829737 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2.6827540967127583, + 54.12848856815033, + -2.205344489829737 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4.182754096712759, + 51.530412356797015, + -2.205344489829737 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 5.68275409671276, + 48.9323361454437, + -2.205344489829737 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965974 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 7.18275409671276, + 46.33425993409038, + -2.205344489829737 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 8.68275409671276, + 43.73618372273707, + -2.205344489829737 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 10.18275409671276, + 41.13810751138375, + -2.205344489829737 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 11.68275409671276, + 38.540031300030435, + -2.205344489829737 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 13.18275409671276, + 35.94195508867712, + -2.205344489829737 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 14.68275409671276, + 33.3438788773238, + -2.205344489829737 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 16.18275409671276, + 30.745802665970487, + -2.205344489829737 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 17.68275409671276, + 28.14772645461717, + -2.205344489829737 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 19.18275409671276, + 25.549650243263855, + -2.205344489829737 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 20.68275409671276, + 22.95157403191054, + -2.205344489829737 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 22.18275409671276, + 20.353497820557223, + -2.205344489829737 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 23.68275409671276, + 17.755421609203907, + -2.205344489829737 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 25.18275409671276, + 15.157345397850591, + -2.205344489829737 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 26.68275409671276, + 12.559269186497275, + -2.205344489829737 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 28.18275409671276, + 9.961192975143959, + -2.205344489829737 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 29.68275409671276, + 7.363116763790643, + -2.205344489829737 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 31.950906944274905, + 5.022578048706055, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-12-22_2027907669/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-12-22_2027907669/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6af074e72d4886dd02f7bd03ebc0b5a051409596 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-12-22_2027907669/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1486.3113738382176, + 43.38825232612098, + -3.7889847554097322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1487.8113738382176, + 40.79017611476766, + -3.7889847554097322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1489.3113738382176, + 38.192099903414345, + -3.7889847554097322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1490.8113738382176, + 35.59402369206103, + -3.7889847554097322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1492.3113738382176, + 32.99594748070771, + -3.7889847554097322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1493.8113738382176, + 30.397871269354397, + -3.7889847554097322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1495.3113738382176, + 27.79979505800108, + -3.7889847554097322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1496.8113738382176, + 25.201718846647765, + -3.7889847554097322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1498.3113738382176, + 22.60364263529445, + -3.7889847554097322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1499.8113738382176, + 20.005566423941133, + -3.7889847554097322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1501.3113738382176, + 17.407490212587817, + -3.7889847554097322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1502.8113738382176, + 14.8094140012345, + -3.7889847554097322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1504.3113738382176, + 12.211337789881185, + -3.7889847554097322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1505.8113738382176, + 9.613261578527869, + -3.7889847554097322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1507.3113738382176, + 7.015185367174553, + -3.7889847554097322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1508.8113738382176, + 4.417109155821237, + -3.7889847554097322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1510.3113738382176, + 1.8190329444679207, + -3.7889847554097322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1511.8113738382176, + -0.7790432668853953, + -3.7889847554097322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1513.3113738382176, + -3.3771194782387113, + -3.7889847554097322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1514.8113738382176, + -5.975195689592027, + -3.7889847554097322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1516.3113738382176, + -8.573271900945343, + -3.7889847554097322 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1516.3113738382176, + -8.573271900945343, + -3.7889847554097322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1516.3113738382176, + -11.573271900945343, + -3.7889847554097322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1516.3113738382176, + -14.573271900945343, + -3.7889847554097322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1516.3113738382176, + -17.573271900945343, + -3.7889847554097322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1516.3113738382176, + -20.573271900945343, + -3.7889847554097322 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1520.3544021606447, + -28.02864229679108, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-21-12_1273911899/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-21-12_1273911899/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f6e7ee3cb8a998911d7671e29576868a633b7eaa --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-21-12_1273911899/pose.jsonl @@ -0,0 +1,274 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -39.68651218149328, + -418.0404652917131, + -1.0995490905953922 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -39.68651218149328, + -415.0404652917131, + -1.0995490905953922 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -39.68651218149328, + -412.0404652917131, + -1.0995490905953922 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -39.68651218149328, + -409.0404652917131, + -1.0995490905953922 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -39.68651218149328, + -406.0404652917131, + -1.0995490905953922 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -39.68651218149328, + -403.0404652917131, + -1.0995490905953922 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -39.68651218149328, + -400.0404652917131, + -1.0995490905953922 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -39.68651218149328, + -397.0404652917131, + -1.0995490905953922 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -39.68651218149328, + -394.0404652917131, + -1.0995490905953922 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -39.68651218149328, + -391.0404652917131, + -1.0995490905953922 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -39.68651218149328, + -388.0404652917131, + -1.0995490905953922 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -39.68651218149328, + -385.0404652917131, + -1.0995490905953922 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -39.68651218149328, + -382.0404652917131, + -1.0995490905953922 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -39.68651218149328, + -379.0404652917131, + -1.0995490905953922 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -39.68651218149328, + -376.0404652917131, + -1.0995490905953922 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -39.68651218149328, + -373.0404652917131, + -1.0995490905953922 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -39.68651218149328, + -370.0404652917131, + -1.0995490905953922 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -39.68651218149328, + -367.0404652917131, + -1.0995490905953922 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -39.68651218149328, + -364.0404652917131, + -1.0995490905953922 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -39.68651218149328, + -361.0404652917131, + -1.0995490905953922 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -37.04707775115967, + -360.1783214569092, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-22-43_2113903881/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-22-43_2113903881/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..236f9992ef5774a44af62a064933a8ee3991d068 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-22-43_2113903881/pose.jsonl @@ -0,0 +1,300 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -249.6170384194659, + -120.54360356870718, + -5.426444096901765 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -247.01896220811258, + -122.04360356870718, + -5.426444096901765 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -244.42088599675927, + -123.54360356870718, + -5.426444096901765 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -241.82280978540595, + -125.04360356870718, + -5.426444096901765 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -239.22473357405264, + -126.54360356870718, + -5.426444096901765 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -236.62665736269932, + -128.04360356870717, + -5.426444096901765 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982947 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -234.028581151346, + -129.54360356870717, + -5.426444096901765 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -231.4305049399927, + -131.04360356870717, + -5.426444096901765 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -228.83242872863937, + -132.54360356870717, + -5.426444096901765 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -226.23435251728606, + -134.04360356870717, + -5.426444096901765 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -223.63627630593274, + -135.54360356870717, + -5.426444096901765 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -221.03820009457942, + -137.04360356870717, + -5.426444096901765 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -218.4401238832261, + -138.54360356870717, + -5.426444096901765 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -215.8420476718728, + -140.04360356870717, + -5.426444096901765 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -213.24397146051948, + -141.54360356870717, + -5.426444096901765 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -210.64589524916616, + -143.04360356870717, + -5.426444096901765 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -210.64589524916616, + -143.04360356870717, + -5.426444096901765 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -209.14589524916616, + -145.64167978006049, + -5.426444096901765 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -207.64589524916616, + -148.2397559914138, + -5.426444096901765 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -206.14589524916616, + -150.83783220276712, + -5.426444096901765 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -204.64589524916616, + -153.43590841412043, + -5.426444096901765 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -203.14589524916616, + -156.03398462547375, + -5.426444096901765 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -203.22534084320068, + -159.0278995513916, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-4-45_1350573793/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-4-45_1350573793/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c923709bbb56ca4fd2744b3214076cd7690c8838 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-4-45_1350573793/pose.jsonl @@ -0,0 +1,287 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 809.8733768032275, + -296.1804768455871, + -0.8321304950232715 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 812.8733768032275, + -296.1804768455871, + -0.8321304950232715 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 815.8733768032275, + -296.1804768455871, + -0.8321304950232715 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 818.8733768032275, + -296.1804768455871, + -0.8321304950232715 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 821.8733768032275, + -296.1804768455871, + -0.8321304950232715 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 824.8733768032275, + -296.1804768455871, + -0.8321304950232715 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 827.8733768032275, + -296.1804768455871, + -0.8321304950232715 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 830.8733768032275, + -296.1804768455871, + -0.8321304950232715 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 833.8733768032275, + -296.1804768455871, + -0.8321304950232715 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 836.8733768032275, + -296.1804768455871, + -0.8321304950232715 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 839.8733768032275, + -296.1804768455871, + -0.8321304950232715 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 842.8733768032275, + -296.1804768455871, + -0.8321304950232715 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 842.8733768032275, + -296.1804768455871, + -0.8321304950232715 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 842.8733768032275, + -296.1804768455871, + -0.8321304950232715 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 844.3733768032275, + -293.5824006342338, + -0.8321304950232715 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 845.8733768032275, + -290.9843244228805, + -0.8321304950232715 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 847.3733768032275, + -288.3862482115272, + -0.8321304950232715 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 847.3733768032275, + -288.3862482115272, + -0.8321304950232715 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 849.9714530145809, + -286.8862482115272, + -0.8321304950232715 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 852.5695292259343, + -285.3862482115272, + -0.8321304950232715 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 855.1676054372876, + -283.8862482115272, + -0.8321304950232715 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 871.2010513305664, + -278.09218101501466, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-4-57_76065818/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-4-57_76065818/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a9a6c3189b8a23eef8257c209c3f15d5748ef7f1 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-4-57_76065818/pose.jsonl @@ -0,0 +1,287 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1231.7347186724207, + 246.09285807785764, + -0.47608871910684414 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1234.7347186724207, + 246.09285807785764, + -0.47608871910684414 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1237.7347186724207, + 246.09285807785764, + -0.47608871910684414 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1240.7347186724207, + 246.09285807785764, + -0.47608871910684414 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1243.7347186724207, + 246.09285807785764, + -0.47608871910684414 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1246.7347186724207, + 246.09285807785764, + -0.47608871910684414 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1249.7347186724207, + 246.09285807785764, + -0.47608871910684414 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1252.7347186724207, + 246.09285807785764, + -0.47608871910684414 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1255.7347186724207, + 246.09285807785764, + -0.47608871910684414 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1258.7347186724207, + 246.09285807785764, + -0.47608871910684414 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1261.7347186724207, + 246.09285807785764, + -0.47608871910684414 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1264.7347186724207, + 246.09285807785764, + -0.47608871910684414 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1267.7347186724207, + 246.09285807785764, + -0.47608871910684414 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1270.7347186724207, + 246.09285807785764, + -0.47608871910684414 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1273.7347186724207, + 246.09285807785764, + -0.47608871910684414 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1276.7347186724207, + 246.09285807785764, + -0.47608871910684414 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1279.7347186724207, + 246.09285807785764, + -0.47608871910684414 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1282.7347186724207, + 246.09285807785764, + -0.47608871910684414 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1285.7347186724207, + 246.09285807785764, + -0.47608871910684414 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1288.7347186724207, + 246.09285807785764, + -0.47608871910684414 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1291.7347186724207, + 246.09285807785764, + -0.47608871910684414 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1292.3825042724611, + 243.1778787612915, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-48-8_1242608872/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-48-8_1242608872/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..da64975810229995b4a1b367ec0d0c9d1aab2514 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-48-8_1242608872/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -142.46757699860154, + -402.12317026920863, + -9.645491391972081 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -145.06565320995486, + -403.62317026920863, + -9.645491391972081 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -147.66372942130818, + -405.12317026920863, + -9.645491391972081 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -150.2618056326615, + -406.62317026920863, + -9.645491391972081 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -152.8598818440148, + -408.12317026920863, + -9.645491391972081 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -155.45795805536812, + -409.62317026920863, + -9.645491391972081 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -158.05603426672144, + -411.12317026920863, + -9.645491391972081 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -160.65411047807476, + -412.62317026920863, + -9.645491391972081 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -163.25218668942807, + -414.12317026920863, + -9.645491391972081 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -165.8502629007814, + -415.62317026920863, + -9.645491391972081 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -168.4483391121347, + -417.12317026920863, + -9.645491391972081 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -171.04641532348802, + -418.62317026920863, + -9.645491391972081 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -173.64449153484134, + -420.12317026920863, + -9.645491391972081 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -176.24256774619465, + -421.62317026920863, + -9.645491391972081 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -178.84064395754797, + -423.12317026920863, + -9.645491391972081 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -181.43872016890128, + -424.62317026920863, + -9.645491391972081 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -184.0367963802546, + -426.12317026920863, + -9.645491391972081 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -186.63487259160792, + -427.62317026920863, + -9.645491391972081 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -189.23294880296123, + -429.12317026920863, + -9.645491391972081 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -191.83102501431455, + -430.62317026920863, + -9.645491391972081 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -194.42910122566786, + -432.12317026920863, + -9.645491391972081 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -197.02717743702118, + -433.62317026920863, + -9.645491391972081 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -199.6252536483745, + -435.12317026920863, + -9.645491391972081 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -202.2233298597278, + -436.62317026920863, + -9.645491391972081 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -204.17917842864992, + -437.0482559204102, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-51-34_364319529/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-51-34_364319529/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1033ba323303a8b408b47c2e0be1acd3000d4ef3 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-51-34_364319529/pose.jsonl @@ -0,0 +1,261 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 74.10752290071589, + 37.119057390262256, + -0.3269028223786137 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 71.50944668936258, + 35.619057390262256, + -0.3269028223786137 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 68.91137047800926, + 34.119057390262256, + -0.3269028223786137 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 66.31329426665594, + 32.619057390262256, + -0.3269028223786137 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 63.71521805530263, + 31.119057390262256, + -0.3269028223786137 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 61.11714184394931, + 29.619057390262256, + -0.3269028223786137 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 58.519065632595996, + 28.119057390262256, + -0.3269028223786137 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 55.92098942124268, + 26.619057390262256, + -0.3269028223786137 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 53.322913209889364, + 25.119057390262256, + -0.3269028223786137 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 50.72483699853605, + 23.619057390262256, + -0.3269028223786137 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 48.12676078718273, + 22.119057390262256, + -0.3269028223786137 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 45.528684575829416, + 20.619057390262256, + -0.3269028223786137 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 42.9306083644761, + 19.119057390262256, + -0.3269028223786137 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 40.332532153122784, + 17.619057390262256, + -0.3269028223786137 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 40.332532153122784, + 17.619057390262256, + -0.3269028223786137 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 38.832532153122784, + 15.02098117890894, + -0.3269028223786137 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 37.332532153122784, + 12.422904967555624, + -0.3269028223786137 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 35.832532153122784, + 9.824828756202308, + -0.3269028223786137 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 34.332532153122784, + 7.226752544848992, + -0.3269028223786137 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 31.950906944274905, + 5.022578048706055, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-6-39_2112255763/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-6-39_2112255763/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4b223679365b5ceaf06e7e02a0520b5064fa8f03 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-6-39_2112255763/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 57.24430484899191, + -131.08755826318165, + -7.073245896314458 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 55.74430484899191, + -128.48948205182833, + -7.073245896314458 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 54.24430484899191, + -125.89140584047502, + -7.073245896314458 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 52.74430484899191, + -123.2933296291217, + -7.073245896314458 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 51.24430484899191, + -120.69525341776838, + -7.073245896314458 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 49.74430484899191, + -118.09717720641507, + -7.073245896314458 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 48.24430484899191, + -115.49910099506175, + -7.073245896314458 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 46.74430484899191, + -112.90102478370844, + -7.073245896314458 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 45.24430484899191, + -110.30294857235512, + -7.073245896314458 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 43.74430484899191, + -107.7048723610018, + -7.073245896314458 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 42.24430484899191, + -105.10679614964849, + -7.073245896314458 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 40.74430484899191, + -102.50871993829517, + -7.073245896314458 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 39.24430484899191, + -99.91064372694186, + -7.073245896314458 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 37.74430484899191, + -97.31256751558854, + -7.073245896314458 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 36.24430484899191, + -94.71449130423522, + -7.073245896314458 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 34.74430484899191, + -92.11641509288191, + -7.073245896314458 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 33.24430484899191, + -89.51833888152859, + -7.073245896314458 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 31.74430484899191, + -86.92026267017528, + -7.073245896314458 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 30.24430484899191, + -84.32218645882196, + -7.073245896314458 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 28.74430484899191, + -81.72411024746864, + -7.073245896314458 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 27.24430484899191, + -79.12603403611533, + -7.073245896314458 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 25.74430484899191, + -76.52795782476201, + -7.073245896314458 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 25.74430484899191, + -76.52795782476201, + -7.073245896314458 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 23.146228637638593, + -75.02795782476201, + -7.073245896314458 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 20.548152426285277, + -73.52795782476201, + -7.073245896314458 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 17.12450046539307, + -73.06071357727052, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-10-3_1866000081/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-10-3_1866000081/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..826c6bc38069a9d7b6787911ba0d40b749c7833d --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-10-3_1866000081/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1435.3335723204384, + -169.79408428389067, + -5.707686529496735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1432.735496109085, + -171.29408428389067, + -5.707686529496735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1430.1374198977317, + -172.79408428389067, + -5.707686529496735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1427.5393436863783, + -174.29408428389067, + -5.707686529496735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1424.941267475025, + -175.79408428389067, + -5.707686529496735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1422.3431912636715, + -177.29408428389067, + -5.707686529496735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1419.7451150523182, + -178.79408428389067, + -5.707686529496735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1417.1470388409648, + -180.29408428389067, + -5.707686529496735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1414.5489626296114, + -181.79408428389067, + -5.707686529496735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1411.950886418258, + -183.29408428389067, + -5.707686529496735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1409.3528102069047, + -184.79408428389067, + -5.707686529496735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1406.7547339955513, + -186.29408428389067, + -5.707686529496735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1404.156657784198, + -187.79408428389067, + -5.707686529496735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1401.5585815728446, + -189.29408428389067, + -5.707686529496735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1398.9605053614912, + -190.79408428389067, + -5.707686529496735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1396.3624291501378, + -192.29408428389067, + -5.707686529496735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1393.7643529387844, + -193.79408428389067, + -5.707686529496735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1391.166276727431, + -195.29408428389067, + -5.707686529496735 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1388.5682005160777, + -196.79408428389067, + -5.707686529496735 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1388.5682005160777, + -196.79408428389067, + -5.707686529496735 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1385.5682005160777, + -196.79408428389067, + -5.707686529496735 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1382.5682005160777, + -196.79408428389067, + -5.707686529496735 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1379.5682005160777, + -196.79408428389067, + -5.707686529496735 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1376.5682005160777, + -196.79408428389067, + -5.707686529496735 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1374.3149368286133, + -198.07321910858155, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-12-32_1748349614/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-12-32_1748349614/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4a36f5d39dfd29775d39db1e187a8b741f529ce6 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-12-32_1748349614/pose.jsonl @@ -0,0 +1,287 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1059.49303129951, + -207.25176890179466, + -6.753042476258522 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1062.49303129951, + -207.25176890179466, + -6.753042476258522 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1065.49303129951, + -207.25176890179466, + -6.753042476258522 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1068.49303129951, + -207.25176890179466, + -6.753042476258522 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1071.49303129951, + -207.25176890179466, + -6.753042476258522 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1074.49303129951, + -207.25176890179466, + -6.753042476258522 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1077.49303129951, + -207.25176890179466, + -6.753042476258522 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1080.49303129951, + -207.25176890179466, + -6.753042476258522 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1083.49303129951, + -207.25176890179466, + -6.753042476258522 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1086.49303129951, + -207.25176890179466, + -6.753042476258522 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1089.49303129951, + -207.25176890179466, + -6.753042476258522 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1092.49303129951, + -207.25176890179466, + -6.753042476258522 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1095.49303129951, + -207.25176890179466, + -6.753042476258522 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1098.49303129951, + -207.25176890179466, + -6.753042476258522 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1101.49303129951, + -207.25176890179466, + -6.753042476258522 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1104.49303129951, + -207.25176890179466, + -6.753042476258522 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1107.49303129951, + -207.25176890179466, + -6.753042476258522 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1110.49303129951, + -207.25176890179466, + -6.753042476258522 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1113.49303129951, + -207.25176890179466, + -6.753042476258522 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1116.49303129951, + -207.25176890179466, + -6.753042476258522 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1119.49303129951, + -207.25176890179466, + -6.753042476258522 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1136.0676353454592, + -208.6565689086914, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-17-49_318561886/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-17-49_318561886/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5e88fa9a63d594690922589da38ed9912c453c7a --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-17-49_318561886/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -5.86485293686777, + -793.9870770371889, + -6.267150155314818 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932046 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -7.364852936867769, + -791.3890008258356, + -6.267150155314818 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932046 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -8.864852936867768, + -788.7909246144823, + -6.267150155314818 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -10.364852936867768, + -786.1928484031289, + -6.267150155314818 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -11.864852936867768, + -783.5947721917755, + -6.267150155314818 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -13.364852936867768, + -780.9966959804221, + -6.267150155314818 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -14.864852936867768, + -778.3986197690688, + -6.267150155314818 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -16.364852936867766, + -775.8005435577154, + -6.267150155314818 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931855 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -17.864852936867766, + -773.202467346362, + -6.267150155314818 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -19.364852936867766, + -770.6043911350087, + -6.267150155314818 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -20.864852936867766, + -768.0063149236553, + -6.267150155314818 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -22.364852936867766, + -765.4082387123019, + -6.267150155314818 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -23.864852936867766, + -762.8101625009485, + -6.267150155314818 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -25.364852936867766, + -760.2120862895952, + -6.267150155314818 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -25.364852936867766, + -760.2120862895952, + -6.267150155314818 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -25.364852936867766, + -757.2120862895952, + -6.267150155314818 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -25.364852936867766, + -754.2120862895952, + -6.267150155314818 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -25.364852936867766, + -751.2120862895952, + -6.267150155314818 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -25.364852936867766, + -748.2120862895952, + -6.267150155314818 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -25.364852936867766, + -745.2120862895952, + -6.267150155314818 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -25.364852936867766, + -742.2120862895952, + -6.267150155314818 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -25.364852936867766, + -739.2120862895952, + -6.267150155314818 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -25.364852936867766, + -736.2120862895952, + -6.267150155314818 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -25.364852936867766, + -733.2120862895952, + -6.267150155314818 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -25.364852936867766, + -730.2120862895952, + -6.267150155314818 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -25.364852936867766, + -727.2120862895952, + -6.267150155314818 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -25.364852936867766, + -724.2120862895952, + -6.267150155314818 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -27.698616790771485, + -723.4622337341309, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-22-21_1745790417/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-22-21_1745790417/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..903e9ba0cd285e5a005d16d5fb71aa7db8ee647a --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-22-21_1745790417/pose.jsonl @@ -0,0 +1,261 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1493.8174491970415, + 28.873853176026714, + -5.604614018166505 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1491.219372985688, + 27.373853176026714, + -5.604614018166505 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1488.6212967743347, + 25.873853176026714, + -5.604614018166505 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1486.0232205629814, + 24.373853176026714, + -5.604614018166505 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1483.425144351628, + 22.873853176026714, + -5.604614018166505 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1480.8270681402746, + 21.373853176026714, + -5.604614018166505 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1478.2289919289212, + 19.873853176026714, + -5.604614018166505 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1475.6309157175679, + 18.373853176026714, + -5.604614018166505 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1473.0328395062145, + 16.873853176026714, + -5.604614018166505 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1470.4347632948611, + 15.373853176026714, + -5.604614018166505 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1467.8366870835077, + 13.873853176026714, + -5.604614018166505 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1465.2386108721544, + 12.373853176026714, + -5.604614018166505 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1462.640534660801, + 10.873853176026714, + -5.604614018166505 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1460.0424584494476, + 9.373853176026714, + -5.604614018166505 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1457.4443822380942, + 7.873853176026714, + -5.604614018166505 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1454.8463060267409, + 6.373853176026714, + -5.604614018166505 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1452.2482298153875, + 4.873853176026714, + -5.604614018166505 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1452.2482298153875, + 4.873853176026714, + -5.604614018166505 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1450.7482298153875, + 2.2757769646733976, + -5.604614018166505 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393205 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1448.3586029052735, + -0.4004184722900391, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-37-59_628974580/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-37-59_628974580/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..66f5cd8d50ffc7168d555933c8ffcf767b349818 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-37-59_628974580/pose.jsonl @@ -0,0 +1,105 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 994.5398962745393, + -321.05654491130196, + -3.118726613611277 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 994.5398962745393, + -318.05654491130196, + -3.118726613611277 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 994.5398962745393, + -315.05654491130196, + -3.118726613611277 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 994.5398962745393, + -312.05654491130196, + -3.118726613611277 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 994.5398962745393, + -309.05654491130196, + -3.118726613611277 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 994.5398962745393, + -309.05654491130196, + -3.118726613611277 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 993.0398962745393, + -306.45846869994864, + -3.118726613611277 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 984.0259399414064, + -252.70955543518068, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-11-0_14989683/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-11-0_14989683/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..39c7a7a239e2bfaaacf76c23467a92ff410e80a9 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-11-0_14989683/pose.jsonl @@ -0,0 +1,378 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -206.90267538405448, + -124.2713696275999, + -8.733369027113442 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -208.40267538405448, + -121.67329341624658, + -8.733369027113442 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -209.90267538405448, + -119.07521720489326, + -8.733369027113442 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -211.40267538405448, + -116.47714099353995, + -8.733369027113442 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -212.90267538405448, + -113.87906478218663, + -8.733369027113442 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -214.40267538405448, + -111.28098857083332, + -8.733369027113442 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -215.90267538405448, + -108.68291235948, + -8.733369027113442 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -217.40267538405448, + -106.08483614812668, + -8.733369027113442 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -218.90267538405448, + -103.48675993677337, + -8.733369027113442 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -220.40267538405448, + -100.88868372542005, + -8.733369027113442 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -221.90267538405448, + -98.29060751406674, + -8.733369027113442 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -223.40267538405448, + -95.69253130271342, + -8.733369027113442 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -224.90267538405448, + -93.0944550913601, + -8.733369027113442 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -226.40267538405448, + -90.49637888000679, + -8.733369027113442 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -227.90267538405448, + -87.89830266865347, + -8.733369027113442 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -229.40267538405448, + -85.30022645730016, + -8.733369027113442 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -230.90267538405448, + -82.70215024594684, + -8.733369027113442 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -232.40267538405448, + -80.10407403459352, + -8.733369027113442 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -233.90267538405448, + -77.50599782324021, + -8.733369027113442 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -235.40267538405448, + -74.90792161188689, + -8.733369027113442 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -236.90267538405448, + -72.30984540053358, + -8.733369027113442 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -236.90267538405448, + -72.30984540053358, + -8.733369027113442 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -239.5007515954078, + -70.80984540053358, + -8.733369027113442 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -242.0988278067611, + -69.30984540053358, + -8.733369027113442 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -244.69690401811442, + -67.80984540053358, + -8.733369027113442 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -247.29498022946774, + -66.30984540053358, + -8.733369027113442 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -249.89305644082106, + -64.80984540053358, + -8.733369027113442 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -252.49113265217437, + -63.309845400533575, + -8.733369027113442 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -254.59913692474368, + -62.6346962928772, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-15-37_980356728/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-15-37_980356728/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..67e762ee65a44ba33a9dd2b8305a2def4729e188 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-15-37_980356728/pose.jsonl @@ -0,0 +1,261 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1380.22674908673, + -187.5309525762817, + -9.995834459184538 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1383.22674908673, + -187.5309525762817, + -9.995834459184538 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1386.22674908673, + -187.5309525762817, + -9.995834459184538 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1389.22674908673, + -187.5309525762817, + -9.995834459184538 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1392.22674908673, + -187.5309525762817, + -9.995834459184538 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1395.22674908673, + -187.5309525762817, + -9.995834459184538 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1398.22674908673, + -187.5309525762817, + -9.995834459184538 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1401.22674908673, + -187.5309525762817, + -9.995834459184538 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1404.22674908673, + -187.5309525762817, + -9.995834459184538 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1407.22674908673, + -187.5309525762817, + -9.995834459184538 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1410.22674908673, + -187.5309525762817, + -9.995834459184538 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1413.22674908673, + -187.5309525762817, + -9.995834459184538 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1416.22674908673, + -187.5309525762817, + -9.995834459184538 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1419.22674908673, + -187.5309525762817, + -9.995834459184538 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1422.22674908673, + -187.5309525762817, + -9.995834459184538 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1425.22674908673, + -187.5309525762817, + -9.995834459184538 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1428.22674908673, + -187.5309525762817, + -9.995834459184538 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1431.22674908673, + -187.5309525762817, + -9.995834459184538 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1434.22674908673, + -187.5309525762817, + -9.995834459184538 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1437.3104949951173, + -187.02000331878662, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-15-58_1404515797/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-15-58_1404515797/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1aad7bc33f025f4c4c28b18618d55495c6805e04 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-15-58_1404515797/pose.jsonl @@ -0,0 +1,118 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1462.6997105296623, + -153.37949958940328, + -5.79979394270112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1461.1997105296623, + -150.78142337804996, + -5.79979394270112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1459.6997105296623, + -148.18334716669665, + -5.79979394270112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1458.1997105296623, + -145.58527095534333, + -5.79979394270112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1456.6997105296623, + -142.98719474399002, + -5.79979394270112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1455.1997105296623, + -140.3891185326367, + -5.79979394270112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1453.6997105296623, + -137.79104232128338, + -5.79979394270112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1452.1997105296623, + -135.19296610993007, + -5.79979394270112 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1428.624742126465, + -85.18475704193116, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-34-15_1412277685/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-34-15_1412277685/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e8ca8095dd81c56d7b0c4d8af56f5551741105ba --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-34-15_1412277685/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 236.45996654344015, + 201.44348862532175, + -0.2756568105665238 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 237.95996654344015, + 198.84541241396843, + -0.2756568105665238 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 239.45996654344015, + 196.24733620261512, + -0.2756568105665238 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 240.95996654344015, + 193.6492599912618, + -0.2756568105665238 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 242.45996654344015, + 191.05118377990848, + -0.2756568105665238 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 243.95996654344015, + 188.45310756855517, + -0.2756568105665238 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 245.45996654344015, + 185.85503135720185, + -0.2756568105665238 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 246.95996654344015, + 183.25695514584854, + -0.2756568105665238 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 248.45996654344015, + 180.65887893449522, + -0.2756568105665238 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 249.95996654344015, + 178.0608027231419, + -0.2756568105665238 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 251.45996654344015, + 175.4627265117886, + -0.2756568105665238 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 252.95996654344015, + 172.86465030043527, + -0.2756568105665238 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 254.45996654344015, + 170.26657408908196, + -0.2756568105665238 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 255.95996654344015, + 167.66849787772864, + -0.2756568105665238 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 257.45996654344015, + 165.07042166637532, + -0.2756568105665238 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 258.95996654344015, + 162.472345455022, + -0.2756568105665238 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 258.95996654344015, + 162.472345455022, + -0.2756568105665238 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 258.95996654344015, + 159.472345455022, + -0.2756568105665238 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 258.95996654344015, + 156.472345455022, + -0.2756568105665238 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 258.95996654344015, + 153.472345455022, + -0.2756568105665238 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 258.95996654344015, + 150.472345455022, + -0.2756568105665238 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 258.95996654344015, + 147.472345455022, + -0.2756568105665238 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 258.95996654344015, + 144.472345455022, + -0.2756568105665238 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 258.26647663116455, + 142.7095600128174, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-41-58_1610009097/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-41-58_1610009097/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e5f76d45b060d7f9ea6ca3407f5d451f3a5c3501 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-41-58_1610009097/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -189.34268258198654, + -383.34301838680636, + -0.7335841552642091 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -186.34268258198654, + -383.34301838680636, + -0.7335841552642091 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -183.34268258198654, + -383.34301838680636, + -0.7335841552642091 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -180.34268258198654, + -383.34301838680636, + -0.7335841552642091 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -177.34268258198654, + -383.34301838680636, + -0.7335841552642091 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -174.34268258198654, + -383.34301838680636, + -0.7335841552642091 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -171.34268258198654, + -383.34301838680636, + -0.7335841552642091 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -168.34268258198654, + -383.34301838680636, + -0.7335841552642091 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -165.34268258198654, + -383.34301838680636, + -0.7335841552642091 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -162.34268258198654, + -383.34301838680636, + -0.7335841552642091 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -159.34268258198654, + -383.34301838680636, + -0.7335841552642091 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -159.34268258198654, + -383.34301838680636, + -0.7335841552642091 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -156.74460637063322, + -384.84301838680636, + -0.7335841552642091 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -154.1465301592799, + -386.34301838680636, + -0.7335841552642091 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -151.5484539479266, + -387.84301838680636, + -0.7335841552642091 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -148.95037773657327, + -389.34301838680636, + -0.7335841552642091 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -146.35230152521996, + -390.84301838680636, + -0.7335841552642091 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -143.75422531386664, + -392.34301838680636, + -0.7335841552642091 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -141.15614910251333, + -393.84301838680636, + -0.7335841552642091 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -138.55807289116, + -395.34301838680636, + -0.7335841552642091 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -135.9599966798067, + -396.84301838680636, + -0.7335841552642091 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -135.9599966798067, + -396.84301838680636, + -0.7335841552642091 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -132.9599966798067, + -396.84301838680636, + -0.7335841552642091 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -129.16454372406008, + -397.39995117187505, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-52-41_695466127/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-52-41_695466127/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cf88453975034a9a6624d0d6bc2ca13027d6f1a4 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-52-41_695466127/pose.jsonl @@ -0,0 +1,209 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 870.7988245385136, + -224.59166699290637, + -7.891897301167496 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 873.7988245385136, + -224.59166699290637, + -7.891897301167496 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 876.7988245385136, + -224.59166699290637, + -7.891897301167496 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 879.7988245385136, + -224.59166699290637, + -7.891897301167496 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 879.7988245385136, + -224.59166699290637, + -7.891897301167496 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 879.7988245385136, + -224.59166699290637, + -7.891897301167496 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 881.2988245385136, + -227.18974320425968, + -7.891897301167496 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 882.7988245385136, + -229.787819415613, + -7.891897301167496 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 884.2988245385136, + -232.38589562696632, + -7.891897301167496 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 885.7988245385136, + -234.98397183831963, + -7.891897301167496 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 887.2988245385136, + -237.58204804967295, + -7.891897301167496 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 888.7988245385136, + -240.18012426102626, + -7.891897301167496 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 890.2988245385136, + -242.77820047237958, + -7.891897301167496 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 891.7988245385136, + -245.3762766837329, + -7.891897301167496 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 893.2988245385136, + -247.9743528950862, + -7.891897301167496 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 919.2332725524903, + -271.52674827575686, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-55-25_507578762/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-55-25_507578762/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..04f3f12aa5ff682f28b050e0f5552c5274707a59 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-55-25_507578762/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 82.42094086747153, + -10.618176109887742, + -0.6836717988992884 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 83.92094086747153, + -8.020099898534426, + -0.6836717988992884 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 85.42094086747153, + -5.42202368718111, + -0.6836717988992884 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 86.92094086747153, + -2.8239474758277936, + -0.6836717988992884 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 88.42094086747153, + -0.22587126447447758, + -0.6836717988992884 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 89.92094086747153, + 2.3722049468788384, + -0.6836717988992884 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 91.42094086747153, + 4.970281158232154, + -0.6836717988992884 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 92.92094086747153, + 7.5683573695854705, + -0.6836717988992884 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 94.42094086747153, + 10.166433580938786, + -0.6836717988992884 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 95.92094086747153, + 12.764509792292102, + -0.6836717988992884 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 97.42094086747153, + 15.362586003645418, + -0.6836717988992884 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 98.92094086747153, + 17.960662214998734, + -0.6836717988992884 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 100.42094086747153, + 20.55873842635205, + -0.6836717988992884 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 101.92094086747153, + 23.156814637705367, + -0.6836717988992884 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 103.42094086747153, + 25.754890849058683, + -0.6836717988992884 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 104.92094086747153, + 28.352967060412, + -0.6836717988992884 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 106.42094086747153, + 30.951043271765315, + -0.6836717988992884 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 107.92094086747153, + 33.54911948311863, + -0.6836717988992884 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 109.42094086747153, + 36.14719569447195, + -0.6836717988992884 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 110.92094086747153, + 38.74527190582526, + -0.6836717988992884 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 112.42094086747153, + 41.34334811717858, + -0.6836717988992884 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 112.42094086747153, + 41.34334811717858, + -0.6836717988992884 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 112.42094086747153, + 44.34334811717858, + -0.6836717988992884 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 112.42094086747153, + 47.34334811717858, + -0.6836717988992884 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 112.42094086747153, + 50.34334811717858, + -0.6836717988992884 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 112.42094086747153, + 53.34334811717858, + -0.6836717988992884 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 112.42094086747153, + 56.34334811717858, + -0.6836717988992884 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 112.24056682586671, + 60.22414054870606, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-56-10_1104561852/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-56-10_1104561852/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d612ced97eeff634cea29590f02f231b30ac2152 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-56-10_1104561852/pose.jsonl @@ -0,0 +1,300 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 666.4132082214979, + -148.90430056771106, + -8.083551498565337 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 666.4132082214979, + -145.90430056771106, + -8.083551498565337 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 666.4132082214979, + -142.90430056771106, + -8.083551498565337 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 666.4132082214979, + -139.90430056771106, + -8.083551498565337 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 666.4132082214979, + -136.90430056771106, + -8.083551498565337 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 666.4132082214979, + -133.90430056771106, + -8.083551498565337 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 666.4132082214979, + -130.90430056771106, + -8.083551498565337 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 666.4132082214979, + -127.90430056771106, + -8.083551498565337 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 666.4132082214979, + -124.90430056771106, + -8.083551498565337 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 666.4132082214979, + -121.90430056771106, + -8.083551498565337 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 666.4132082214979, + -118.90430056771106, + -8.083551498565337 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 666.4132082214979, + -115.90430056771106, + -8.083551498565337 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 666.4132082214979, + -112.90430056771106, + -8.083551498565337 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 666.4132082214979, + -109.90430056771106, + -8.083551498565337 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 666.4132082214979, + -106.90430056771106, + -8.083551498565337 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 666.4132082214979, + -103.90430056771106, + -8.083551498565337 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 666.4132082214979, + -100.90430056771106, + -8.083551498565337 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 666.4132082214979, + -97.90430056771106, + -8.083551498565337 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 666.4132082214979, + -94.90430056771106, + -8.083551498565337 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 666.4132082214979, + -91.90430056771106, + -8.083551498565337 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 666.4132082214979, + -88.90430056771106, + -8.083551498565337 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 666.4132082214979, + -85.90430056771106, + -8.083551498565337 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 668.9317680358887, + -69.13963012695314, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-58-43_942724790/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-58-43_942724790/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..39b78005bde15839fd0dbb46bc869cb2a8daae4d --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-58-43_942724790/pose.jsonl @@ -0,0 +1,274 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -275.9945249200874, + -128.05684202222545, + -0.31585134261572634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -275.9945249200874, + -131.05684202222545, + -0.31585134261572634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -275.9945249200874, + -134.05684202222545, + -0.31585134261572634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -275.9945249200874, + -137.05684202222545, + -0.31585134261572634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -275.9945249200874, + -140.05684202222545, + -0.31585134261572634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -275.9945249200874, + -143.05684202222545, + -0.31585134261572634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -275.9945249200874, + -146.05684202222545, + -0.31585134261572634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -275.9945249200874, + -149.05684202222545, + -0.31585134261572634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -275.9945249200874, + -152.05684202222545, + -0.31585134261572634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -275.9945249200874, + -155.05684202222545, + -0.31585134261572634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -275.9945249200874, + -158.05684202222545, + -0.31585134261572634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -275.9945249200874, + -161.05684202222545, + -0.31585134261572634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -275.9945249200874, + -164.05684202222545, + -0.31585134261572634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -275.9945249200874, + -167.05684202222545, + -0.31585134261572634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -275.9945249200874, + -170.05684202222545, + -0.31585134261572634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -275.9945249200874, + -173.05684202222545, + -0.31585134261572634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -275.9945249200874, + -176.05684202222545, + -0.31585134261572634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -275.9945249200874, + -179.05684202222545, + -0.31585134261572634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -275.9945249200874, + -182.05684202222545, + -0.31585134261572634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -275.9945249200874, + -185.05684202222545, + -0.31585134261572634 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -277.72470836639405, + -188.3509792327881, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-20-14_478841551/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-20-14_478841551/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5f8f7c64c7a03b8fc5ef51d32ae4ba3003df90b3 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-20-14_478841551/pose.jsonl @@ -0,0 +1,261 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 254.09379751977696, + 195.45165057892686, + -5.358907291087912 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 254.09379751977696, + 192.45165057892686, + -5.358907291087912 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 254.09379751977696, + 189.45165057892686, + -5.358907291087912 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 254.09379751977696, + 186.45165057892686, + -5.358907291087912 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 254.09379751977696, + 183.45165057892686, + -5.358907291087912 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 254.09379751977696, + 180.45165057892686, + -5.358907291087912 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 254.09379751977696, + 177.45165057892686, + -5.358907291087912 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 254.09379751977696, + 174.45165057892686, + -5.358907291087912 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 254.09379751977696, + 171.45165057892686, + -5.358907291087912 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 254.09379751977696, + 168.45165057892686, + -5.358907291087912 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 254.09379751977696, + 165.45165057892686, + -5.358907291087912 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 254.09379751977696, + 162.45165057892686, + -5.358907291087912 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 254.09379751977696, + 159.45165057892686, + -5.358907291087912 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 254.09379751977696, + 156.45165057892686, + -5.358907291087912 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 254.09379751977696, + 153.45165057892686, + -5.358907291087912 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 254.09379751977696, + 153.45165057892686, + -5.358907291087912 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 255.59379751977696, + 150.85357436757354, + -5.358907291087912 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 257.09379751977696, + 148.25549815622023, + -5.358907291087912 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 258.59379751977696, + 145.6574219448669, + -5.358907291087912 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 258.26647663116455, + 142.7095600128174, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-20-39_972125383/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-20-39_972125383/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f9b9a6ecb2c73f6747c3a2ccc51ee4b0f681ed29 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-20-39_972125383/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1062.187392095468, + -236.29031575774601, + -9.193629597429304 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1060.687392095468, + -238.88839196909933, + -9.193629597429304 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1059.187392095468, + -241.48646818045265, + -9.193629597429304 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1057.687392095468, + -244.08454439180596, + -9.193629597429304 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1057.687392095468, + -244.08454439180596, + -9.193629597429304 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1055.0893158841147, + -245.58454439180596, + -9.193629597429304 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1052.4912396727614, + -247.08454439180596, + -9.193629597429304 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1049.893163461408, + -248.58454439180596, + -9.193629597429304 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1047.2950872500546, + -250.08454439180596, + -9.193629597429304 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1047.2950872500546, + -250.08454439180596, + -9.193629597429304 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1044.2950872500546, + -250.08454439180596, + -9.193629597429304 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1041.2950872500546, + -250.08454439180596, + -9.193629597429304 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1038.2950872500546, + -250.08454439180596, + -9.193629597429304 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1035.2950872500546, + -250.08454439180596, + -9.193629597429304 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1032.2950872500546, + -250.08454439180596, + -9.193629597429304 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1029.2950872500546, + -250.08454439180596, + -9.193629597429304 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1026.2950872500546, + -250.08454439180596, + -9.193629597429304 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1023.2950872500546, + -250.08454439180596, + -9.193629597429304 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1020.2950872500546, + -250.08454439180596, + -9.193629597429304 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1017.2950872500546, + -250.08454439180596, + -9.193629597429304 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1014.2950872500546, + -250.08454439180596, + -9.193629597429304 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1011.2950872500546, + -250.08454439180596, + -9.193629597429304 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1008.2950872500546, + -250.08454439180596, + -9.193629597429304 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1005.2950872500546, + -250.08454439180596, + -9.193629597429304 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1002.2950872500546, + -250.08454439180596, + -9.193629597429304 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 999.2950872500546, + -250.08454439180596, + -9.193629597429304 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 984.0259399414064, + -252.70955543518068, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-31-50_1587992726/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-31-50_1587992726/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..771e306871bb5fd5b97e7805c88f3841348c7760 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-31-50_1587992726/pose.jsonl @@ -0,0 +1,378 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 86.4647440242121, + -326.15402418146664, + -5.8403466889288875 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 86.4647440242121, + -329.15402418146664, + -5.8403466889288875 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 86.4647440242121, + -332.15402418146664, + -5.8403466889288875 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 86.4647440242121, + -335.15402418146664, + -5.8403466889288875 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 86.4647440242121, + -338.15402418146664, + -5.8403466889288875 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 86.4647440242121, + -341.15402418146664, + -5.8403466889288875 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 86.4647440242121, + -344.15402418146664, + -5.8403466889288875 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 86.4647440242121, + -347.15402418146664, + -5.8403466889288875 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 86.4647440242121, + -350.15402418146664, + -5.8403466889288875 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 86.4647440242121, + -353.15402418146664, + -5.8403466889288875 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 86.4647440242121, + -356.15402418146664, + -5.8403466889288875 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 86.4647440242121, + -359.15402418146664, + -5.8403466889288875 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 86.4647440242121, + -362.15402418146664, + -5.8403466889288875 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 86.4647440242121, + -365.15402418146664, + -5.8403466889288875 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 86.4647440242121, + -368.15402418146664, + -5.8403466889288875 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 86.4647440242121, + -371.15402418146664, + -5.8403466889288875 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 86.4647440242121, + -374.15402418146664, + -5.8403466889288875 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 86.4647440242121, + -377.15402418146664, + -5.8403466889288875 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 86.4647440242121, + -380.15402418146664, + -5.8403466889288875 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 86.4647440242121, + -383.15402418146664, + -5.8403466889288875 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 86.4647440242121, + -386.15402418146664, + -5.8403466889288875 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 86.4647440242121, + -389.15402418146664, + -5.8403466889288875 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 86.4647440242121, + -392.15402418146664, + -5.8403466889288875 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 86.4647440242121, + -395.15402418146664, + -5.8403466889288875 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 86.4647440242121, + -395.15402418146664, + -5.8403466889288875 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 87.9647440242121, + -397.75210039281995, + -5.8403466889288875 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 89.4647440242121, + -400.35017660417327, + -5.8403466889288875 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 90.9647440242121, + -402.9482528155266, + -5.8403466889288875 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 90.3713176727295, + -405.9313674926758, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-41-33_1015857464/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-41-33_1015857464/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e64eb0b9e4cac13db5f0592e639b2bf2bacf0e5e --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-41-33_1015857464/pose.jsonl @@ -0,0 +1,287 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1342.2630482742907, + 276.3418277283099, + -6.753047091480646 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1339.6649720629373, + 274.8418277283099, + -6.753047091480646 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1337.066895851584, + 273.3418277283099, + -6.753047091480646 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1334.4688196402305, + 271.8418277283099, + -6.753047091480646 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1331.8707434288772, + 270.3418277283099, + -6.753047091480646 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1329.2726672175238, + 268.8418277283099, + -6.753047091480646 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1326.6745910061704, + 267.3418277283099, + -6.753047091480646 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1324.076514794817, + 265.8418277283099, + -6.753047091480646 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1321.4784385834637, + 264.3418277283099, + -6.753047091480646 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1318.8803623721103, + 262.8418277283099, + -6.753047091480646 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1316.282286160757, + 261.3418277283099, + -6.753047091480646 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1313.6842099494036, + 259.8418277283099, + -6.753047091480646 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1311.0861337380502, + 258.3418277283099, + -6.753047091480646 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1308.4880575266968, + 256.8418277283099, + -6.753047091480646 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1305.8899813153434, + 255.3418277283099, + -6.753047091480646 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1303.29190510399, + 253.8418277283099, + -6.753047091480646 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1300.6938288926367, + 252.3418277283099, + -6.753047091480646 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1300.6938288926367, + 252.3418277283099, + -6.753047091480646 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1299.1938288926367, + 249.7437515169566, + -6.753047091480646 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1297.6938288926367, + 247.14567530560328, + -6.753047091480646 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1296.1938288926367, + 244.54759909424996, + -6.753047091480646 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1292.3825042724611, + 243.1778787612915, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-45-50_657103124/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-45-50_657103124/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..34425e21e8a6037c04733ee813cb10a742bf750b --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-45-50_657103124/pose.jsonl @@ -0,0 +1,300 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 512.8874885889142, + -451.25459463691675, + -1.9635137818282633 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 511.38748858891415, + -448.65651842556343, + -1.9635137818282633 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 509.88748858891415, + -446.0584422142101, + -1.9635137818282633 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 508.38748858891415, + -443.4603660028568, + -1.9635137818282633 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 506.88748858891415, + -440.8622897915035, + -1.9635137818282633 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 505.38748858891415, + -438.26421358015017, + -1.9635137818282633 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 503.88748858891415, + -435.66613736879685, + -1.9635137818282633 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 502.38748858891415, + -433.06806115744354, + -1.9635137818282633 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 500.88748858891415, + -430.4699849460902, + -1.9635137818282633 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 499.38748858891415, + -427.8719087347369, + -1.9635137818282633 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 497.88748858891415, + -425.2738325233836, + -1.9635137818282633 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 497.88748858891415, + -425.2738325233836, + -1.9635137818282633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 497.88748858891415, + -422.2738325233836, + -1.9635137818282633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 497.88748858891415, + -419.2738325233836, + -1.9635137818282633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 497.88748858891415, + -416.2738325233836, + -1.9635137818282633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 497.88748858891415, + -413.2738325233836, + -1.9635137818282633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 497.88748858891415, + -410.2738325233836, + -1.9635137818282633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 497.88748858891415, + -407.2738325233836, + -1.9635137818282633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 497.88748858891415, + -404.2738325233836, + -1.9635137818282633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 497.88748858891415, + -401.2738325233836, + -1.9635137818282633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 497.88748858891415, + -398.2738325233836, + -1.9635137818282633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 497.88748858891415, + -395.2738325233836, + -1.9635137818282633 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 495.27006835937505, + -393.85822601318364, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-46-17_331016259/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-46-17_331016259/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3cec40b67d0d7baf28bde40fa5070f6108f86156 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-46-17_331016259/pose.jsonl @@ -0,0 +1,378 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 106.64999166776394, + -573.2390480774807, + -5.260331219342536 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 103.64999166776394, + -573.2390480774807, + -5.260331219342536 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 100.64999166776394, + -573.2390480774807, + -5.260331219342536 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 97.64999166776394, + -573.2390480774807, + -5.260331219342536 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 94.64999166776394, + -573.2390480774807, + -5.260331219342536 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 91.64999166776394, + -573.2390480774807, + -5.260331219342536 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 88.64999166776394, + -573.2390480774807, + -5.260331219342536 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 85.64999166776394, + -573.2390480774807, + -5.260331219342536 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 82.64999166776394, + -573.2390480774807, + -5.260331219342536 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 79.64999166776394, + -573.2390480774807, + -5.260331219342536 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 76.64999166776394, + -573.2390480774807, + -5.260331219342536 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 73.64999166776394, + -573.2390480774807, + -5.260331219342536 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 70.64999166776394, + -573.2390480774807, + -5.260331219342536 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 67.64999166776394, + -573.2390480774807, + -5.260331219342536 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 64.64999166776394, + -573.2390480774807, + -5.260331219342536 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 61.64999166776394, + -573.2390480774807, + -5.260331219342536 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 58.64999166776394, + -573.2390480774807, + -5.260331219342536 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 55.64999166776394, + -573.2390480774807, + -5.260331219342536 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 55.64999166776394, + -573.2390480774807, + -5.260331219342536 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 53.051915456410626, + -574.7390480774807, + -5.260331219342536 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 50.45383924505731, + -576.2390480774807, + -5.260331219342536 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 47.855763033703994, + -577.7390480774807, + -5.260331219342536 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 45.25768682235068, + -579.2390480774807, + -5.260331219342536 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 42.65961061099736, + -580.7390480774807, + -5.260331219342536 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 40.061534399644046, + -582.2390480774807, + -5.260331219342536 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 37.46345818829073, + -583.7390480774807, + -5.260331219342536 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 34.865381976937414, + -585.2390480774807, + -5.260331219342536 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 32.2673057655841, + -586.7390480774807, + -5.260331219342536 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 29.783947944641117, + -587.6620632171631, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-50-11_67974802/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-50-11_67974802/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b8b3a4c808665724763c84b2e2026553079ae68b --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-50-11_67974802/pose.jsonl @@ -0,0 +1,300 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -98.8196699947973, + -67.61922795500178, + -2.5470554956438747 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -100.3196699947973, + -70.21730416635509, + -2.5470554956438747 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -101.8196699947973, + -72.81538037770841, + -2.5470554956438747 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -103.3196699947973, + -75.41345658906172, + -2.5470554956438747 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -104.8196699947973, + -78.01153280041504, + -2.5470554956438747 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -106.3196699947973, + -80.60960901176836, + -2.5470554956438747 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -107.8196699947973, + -83.20768522312167, + -2.5470554956438747 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -109.3196699947973, + -85.80576143447499, + -2.5470554956438747 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -110.8196699947973, + -88.4038376458283, + -2.5470554956438747 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -112.3196699947973, + -91.00191385718162, + -2.5470554956438747 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -113.8196699947973, + -93.59999006853494, + -2.5470554956438747 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -115.3196699947973, + -96.19806627988825, + -2.5470554956438747 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -116.8196699947973, + -98.79614249124157, + -2.5470554956438747 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -118.3196699947973, + -101.39421870259488, + -2.5470554956438747 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -119.8196699947973, + -103.9922949139482, + -2.5470554956438747 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -121.3196699947973, + -106.59037112530152, + -2.5470554956438747 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -122.8196699947973, + -109.18844733665483, + -2.5470554956438747 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -124.3196699947973, + -111.78652354800815, + -2.5470554956438747 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -125.8196699947973, + -114.38459975936146, + -2.5470554956438747 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -127.3196699947973, + -116.98267597071478, + -2.5470554956438747 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -128.8196699947973, + -119.5807521820681, + -2.5470554956438747 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -130.3196699947973, + -122.17882839342141, + -2.5470554956438747 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -133.47221508026124, + -121.93247375488282, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-52-30_172623403/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-52-30_172623403/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..09c4978d7db7b0dc3d23ba33f03aa7d28aaefec2 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-52-30_172623403/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 195.58923612626202, + -696.8482586623849, + -9.008154638485204 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 197.08923612626202, + -694.2501824510316, + -9.008154638485204 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 198.58923612626202, + -691.6521062396782, + -9.008154638485204 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 200.08923612626202, + -689.0540300283249, + -9.008154638485204 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 201.58923612626202, + -686.4559538169715, + -9.008154638485204 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 203.08923612626202, + -683.8578776056181, + -9.008154638485204 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 204.58923612626202, + -681.2598013942647, + -9.008154638485204 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 206.08923612626202, + -678.6617251829114, + -9.008154638485204 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 207.58923612626202, + -676.063648971558, + -9.008154638485204 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 209.08923612626202, + -673.4655727602046, + -9.008154638485204 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 210.58923612626202, + -670.8674965488512, + -9.008154638485204 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 212.08923612626202, + -668.2694203374979, + -9.008154638485204 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 213.58923612626202, + -665.6713441261445, + -9.008154638485204 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 215.08923612626202, + -663.0732679147911, + -9.008154638485204 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 216.58923612626202, + -660.4751917034378, + -9.008154638485204 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 218.08923612626202, + -657.8771154920844, + -9.008154638485204 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 219.58923612626202, + -655.279039280731, + -9.008154638485204 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 221.08923612626202, + -652.6809630693776, + -9.008154638485204 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 222.58923612626202, + -650.0828868580243, + -9.008154638485204 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 224.08923612626202, + -647.4848106466709, + -9.008154638485204 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 225.58923612626202, + -644.8867344353175, + -9.008154638485204 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 227.08923612626202, + -642.2886582239641, + -9.008154638485204 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 227.08923612626202, + -642.2886582239641, + -9.008154638485204 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 229.68731233761534, + -640.7886582239641, + -9.008154638485204 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 232.28538854896865, + -639.2886582239641, + -9.008154638485204 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 234.88346476032197, + -637.7886582239641, + -9.008154638485204 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 237.59388580322266, + -636.861552810669, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-59-22_845954166/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-59-22_845954166/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bce94d145d7e12bb194646db3b57ccb458a74d92 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-59-22_845954166/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 81.08014987567881, + 58.54439946135466, + -7.481656934604632 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 79.58014987567881, + 55.94632325000134, + -7.481656934604632 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 78.08014987567881, + 53.348247038648026, + -7.481656934604632 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 76.58014987567881, + 50.75017082729471, + -7.481656934604632 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 75.08014987567881, + 48.152094615941394, + -7.481656934604632 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 73.58014987567881, + 45.55401840458808, + -7.481656934604632 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 72.08014987567881, + 42.95594219323476, + -7.481656934604632 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 70.58014987567881, + 40.357865981881446, + -7.481656934604632 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 69.08014987567881, + 37.75978977052813, + -7.481656934604632 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 67.58014987567881, + 35.161713559174814, + -7.481656934604632 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 66.08014987567881, + 32.5636373478215, + -7.481656934604632 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 64.58014987567881, + 29.96556113646818, + -7.481656934604632 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 63.08014987567881, + 27.367484925114866, + -7.481656934604632 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 63.08014987567881, + 27.367484925114866, + -7.481656934604632 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 60.4820736643255, + 25.867484925114866, + -7.481656934604632 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 57.88399745297218, + 24.367484925114866, + -7.481656934604632 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 55.285921241618865, + 22.867484925114866, + -7.481656934604632 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 52.68784503026555, + 21.367484925114866, + -7.481656934604632 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 50.08976881891223, + 19.867484925114866, + -7.481656934604632 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 47.49169260755892, + 18.367484925114866, + -7.481656934604632 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 44.8936163962056, + 16.867484925114866, + -7.481656934604632 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 42.295540184852285, + 15.367484925114866, + -7.481656934604632 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 39.69746397349897, + 13.867484925114866, + -7.481656934604632 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 37.09938776214565, + 12.367484925114866, + -7.481656934604632 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 34.50131155079234, + 10.867484925114866, + -7.481656934604632 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 34.50131155079234, + 10.867484925114866, + -7.481656934604632 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 33.00131155079234, + 8.26940871376155, + -7.481656934604632 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931957 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 31.950906944274905, + 5.022578048706055, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-15-14_956134158/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-15-14_956134158/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..36271197cf0e81e80c1ab886f1704e30b771eb7e --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-15-14_956134158/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -218.21374126111098, + -229.80521600119027, + -5.735619663232038 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -220.8118174724643, + -228.30521600119027, + -5.735619663232038 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -223.40989368381761, + -226.80521600119027, + -5.735619663232038 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -226.00796989517093, + -225.30521600119027, + -5.735619663232038 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -228.60604610652425, + -223.80521600119027, + -5.735619663232038 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -231.20412231787756, + -222.30521600119027, + -5.735619663232038 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -233.80219852923088, + -220.80521600119027, + -5.735619663232038 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -236.4002747405842, + -219.30521600119027, + -5.735619663232038 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -238.9983509519375, + -217.80521600119027, + -5.735619663232038 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -241.59642716329083, + -216.30521600119027, + -5.735619663232038 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -244.19450337464414, + -214.80521600119027, + -5.735619663232038 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -246.79257958599746, + -213.30521600119027, + -5.735619663232038 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -249.39065579735077, + -211.80521600119027, + -5.735619663232038 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -251.9887320087041, + -210.30521600119027, + -5.735619663232038 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -254.5868082200574, + -208.80521600119027, + -5.735619663232038 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -257.18488443141075, + -207.30521600119027, + -5.735619663232038 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914993 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -259.78296064276407, + -205.80521600119027, + -5.735619663232038 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -262.3810368541174, + -204.30521600119027, + -5.735619663232038 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -264.9791130654707, + -202.80521600119027, + -5.735619663232038 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -267.577189276824, + -201.30521600119027, + -5.735619663232038 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -270.17526548817733, + -199.80521600119027, + -5.735619663232038 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -272.77334169953065, + -198.30521600119027, + -5.735619663232038 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -275.37141791088396, + -196.80521600119027, + -5.735619663232038 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -275.37141791088396, + -196.80521600119027, + -5.735619663232038 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -275.37141791088396, + -196.80521600119027, + -5.735619663232038 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948968 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -275.37141791088396, + -193.80521600119027, + -5.735619663232038 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -275.37141791088396, + -190.80521600119027, + -5.735619663232038 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -277.72470836639405, + -188.3509792327881, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-25-9_309766496/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-25-9_309766496/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ba0183978e8876d087f2e3cc78f8abee4068ba2f --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-25-9_309766496/pose.jsonl @@ -0,0 +1,287 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 518.32436650967, + -310.4437129286824, + -4.393458338326934 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 518.32436650967, + -313.4437129286824, + -4.393458338326934 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 518.32436650967, + -316.4437129286824, + -4.393458338326934 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 518.32436650967, + -319.4437129286824, + -4.393458338326934 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 518.32436650967, + -322.4437129286824, + -4.393458338326934 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 518.32436650967, + -325.4437129286824, + -4.393458338326934 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 518.32436650967, + -328.4437129286824, + -4.393458338326934 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 518.32436650967, + -331.4437129286824, + -4.393458338326934 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 518.32436650967, + -334.4437129286824, + -4.393458338326934 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 518.32436650967, + -337.4437129286824, + -4.393458338326934 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 518.32436650967, + -340.4437129286824, + -4.393458338326934 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 518.32436650967, + -343.4437129286824, + -4.393458338326934 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 518.32436650967, + -346.4437129286824, + -4.393458338326934 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 518.32436650967, + -346.4437129286824, + -4.393458338326934 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 516.82436650967, + -349.0417891400357, + -4.393458338326934 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 515.32436650967, + -351.639865351389, + -4.393458338326934 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 513.82436650967, + -354.2379415627423, + -4.393458338326934 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 512.32436650967, + -356.83601777409564, + -4.393458338326934 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 510.82436650966997, + -359.43409398544895, + -4.393458338326934 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 509.32436650966997, + -362.03217019680227, + -4.393458338326934 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 507.82436650966997, + -364.6302464081556, + -4.393458338326934 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 507.2775932312012, + -365.6789970397949, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-33-47_1764892438/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-33-47_1764892438/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..762e8e969a213fd25d99138c8fdef42f03c54cd9 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-33-47_1764892438/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 184.97922648024485, + 77.40297179689341, + -1.2657015118214758 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 181.97922648024485, + 77.40297179689341, + -1.2657015118214758 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 178.97922648024485, + 77.40297179689341, + -1.2657015118214758 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 175.97922648024485, + 77.40297179689341, + -1.2657015118214758 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 172.97922648024485, + 77.40297179689341, + -1.2657015118214758 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 169.97922648024485, + 77.40297179689341, + -1.2657015118214758 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 166.97922648024485, + 77.40297179689341, + -1.2657015118214758 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 163.97922648024485, + 77.40297179689341, + -1.2657015118214758 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 160.97922648024485, + 77.40297179689341, + -1.2657015118214758 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 157.97922648024485, + 77.40297179689341, + -1.2657015118214758 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 154.97922648024485, + 77.40297179689341, + -1.2657015118214758 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 151.97922648024485, + 77.40297179689341, + -1.2657015118214758 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 148.97922648024485, + 77.40297179689341, + -1.2657015118214758 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 145.97922648024485, + 77.40297179689341, + -1.2657015118214758 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 142.97922648024485, + 77.40297179689341, + -1.2657015118214758 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 139.97922648024485, + 77.40297179689341, + -1.2657015118214758 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 139.97922648024485, + 77.40297179689341, + -1.2657015118214758 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 137.38115026889153, + 75.90297179689341, + -1.2657015118214758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 134.78307405753822, + 74.40297179689341, + -1.2657015118214758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 132.1849978461849, + 72.90297179689341, + -1.2657015118214758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 129.58692163483158, + 71.40297179689341, + -1.2657015118214758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 126.98884542347827, + 69.90297179689341, + -1.2657015118214758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 124.39076921212495, + 68.40297179689341, + -1.2657015118214758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 121.79269300077164, + 66.90297179689341, + -1.2657015118214758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 119.19461678941832, + 65.40297179689341, + -1.2657015118214758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 116.596540578065, + 63.90297179689341, + -1.2657015118214758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 113.99846436671169, + 62.40297179689341, + -1.2657015118214758 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 112.24056682586671, + 60.22414054870606, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-57-16_62299853/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-57-16_62299853/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f9354d881502caced449c14cc86ab4630940c833 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-57-16_62299853/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -126.20065840161294, + -596.3916850314196, + -6.486336139779953 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -123.20065840161294, + -596.3916850314196, + -6.486336139779953 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -120.20065840161294, + -596.3916850314196, + -6.486336139779953 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -117.20065840161294, + -596.3916850314196, + -6.486336139779953 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -114.20065840161294, + -596.3916850314196, + -6.486336139779953 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -111.20065840161294, + -596.3916850314196, + -6.486336139779953 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -108.20065840161294, + -596.3916850314196, + -6.486336139779953 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -105.20065840161294, + -596.3916850314196, + -6.486336139779953 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -102.20065840161294, + -596.3916850314196, + -6.486336139779953 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -99.20065840161294, + -596.3916850314196, + -6.486336139779953 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -96.20065840161294, + -596.3916850314196, + -6.486336139779953 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -93.20065840161294, + -596.3916850314196, + -6.486336139779953 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -90.20065840161294, + -596.3916850314196, + -6.486336139779953 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -87.20065840161294, + -596.3916850314196, + -6.486336139779953 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -87.20065840161294, + -596.3916850314196, + -6.486336139779953 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -84.60258219025962, + -597.8916850314196, + -6.486336139779953 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -82.00450597890631, + -599.3916850314196, + -6.486336139779953 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -79.40642976755299, + -600.8916850314196, + -6.486336139779953 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -76.80835355619968, + -602.3916850314196, + -6.486336139779953 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -74.21027734484636, + -603.8916850314196, + -6.486336139779953 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -71.61220113349304, + -605.3916850314196, + -6.486336139779953 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -69.01412492213973, + -606.8916850314196, + -6.486336139779953 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -66.41604871078641, + -608.3916850314196, + -6.486336139779953 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -63.8179724994331, + -609.8916850314196, + -6.486336139779953 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -61.21989628807978, + -611.3916850314196, + -6.486336139779953 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -58.621820076726465, + -612.8916850314196, + -6.486336139779953 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -56.02374386537315, + -614.3916850314196, + -6.486336139779953 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -52.7497802734375, + -613.6590488433839, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-8-27_363304213/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-8-27_363304213/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4712d47effbd03cff4b803cd35ec1213111ca931 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-8-27_363304213/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 128.70521819224027, + -95.44538459021025, + -4.896005097977741 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 126.10714198088695, + -93.94538459021025, + -4.896005097977741 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 123.50906576953363, + -92.44538459021025, + -4.896005097977741 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 120.91098955818032, + -90.94538459021025, + -4.896005097977741 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 118.312913346827, + -89.44538459021025, + -4.896005097977741 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 115.71483713547369, + -87.94538459021025, + -4.896005097977741 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 113.11676092412037, + -86.44538459021025, + -4.896005097977741 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 110.51868471276705, + -84.94538459021025, + -4.896005097977741 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 107.92060850141374, + -83.44538459021025, + -4.896005097977741 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 105.32253229006042, + -81.94538459021025, + -4.896005097977741 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 102.7244560787071, + -80.44538459021025, + -4.896005097977741 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 100.12637986735379, + -78.94538459021025, + -4.896005097977741 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 97.52830365600047, + -77.44538459021025, + -4.896005097977741 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 94.93022744464716, + -75.94538459021025, + -4.896005097977741 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 92.33215123329384, + -74.44538459021025, + -4.896005097977741 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 89.73407502194053, + -72.94538459021025, + -4.896005097977741 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 87.13599881058721, + -71.44538459021025, + -4.896005097977741 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 84.5379225992339, + -69.94538459021025, + -4.896005097977741 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 81.93984638788058, + -68.44538459021025, + -4.896005097977741 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 79.34177017652726, + -66.94538459021025, + -4.896005097977741 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 76.74369396517395, + -65.44538459021025, + -4.896005097977741 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 74.14561775382063, + -63.94538459021025, + -4.896005097977741 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 74.14561775382063, + -63.94538459021025, + -4.896005097977741 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 72.64561775382063, + -61.34730837885694, + -4.896005097977741 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 71.14561775382063, + -58.74923216750362, + -4.896005097977741 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 70.69211120605469, + -56.732511901855474, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-1-12_831099451/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-1-12_831099451/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ab834d9c0a7ec5541cafab672da765efbbc5ccca --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-1-12_831099451/pose.jsonl @@ -0,0 +1,196 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 444.080416828501, + -103.39163265977119, + -2.917832324300768 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 441.080416828501, + -103.39163265977119, + -2.917832324300768 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 438.080416828501, + -103.39163265977119, + -2.917832324300768 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 435.080416828501, + -103.39163265977119, + -2.917832324300768 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 432.080416828501, + -103.39163265977119, + -2.917832324300768 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 429.080416828501, + -103.39163265977119, + -2.917832324300768 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 426.080416828501, + -103.39163265977119, + -2.917832324300768 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 423.080416828501, + -103.39163265977119, + -2.917832324300768 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 420.080416828501, + -103.39163265977119, + -2.917832324300768 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 417.080416828501, + -103.39163265977119, + -2.917832324300768 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 414.080416828501, + -103.39163265977119, + -2.917832324300768 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 414.080416828501, + -103.39163265977119, + -2.917832324300768 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 411.48234061714766, + -101.89163265977119, + -2.917832324300768 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 408.88426440579434, + -100.39163265977119, + -2.917832324300768 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 375.30573921203614, + -93.86981248855591, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-13-42_1950148346/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-13-42_1950148346/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..679be530ff6db7170f35ebe962a461e684cec704 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-13-42_1950148346/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 85.42881490812458, + -476.26960847259926, + -3.6904379977064874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 85.42881490812458, + -473.26960847259926, + -3.6904379977064874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 85.42881490812458, + -470.26960847259926, + -3.6904379977064874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 85.42881490812458, + -467.26960847259926, + -3.6904379977064874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 85.42881490812458, + -464.26960847259926, + -3.6904379977064874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 85.42881490812458, + -461.26960847259926, + -3.6904379977064874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 85.42881490812458, + -458.26960847259926, + -3.6904379977064874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 85.42881490812458, + -455.26960847259926, + -3.6904379977064874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 85.42881490812458, + -452.26960847259926, + -3.6904379977064874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 85.42881490812458, + -449.26960847259926, + -3.6904379977064874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 85.42881490812458, + -446.26960847259926, + -3.6904379977064874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 85.42881490812458, + -443.26960847259926, + -3.6904379977064874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 85.42881490812458, + -440.26960847259926, + -3.6904379977064874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 85.42881490812458, + -437.26960847259926, + -3.6904379977064874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 85.42881490812458, + -434.26960847259926, + -3.6904379977064874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 85.42881490812458, + -431.26960847259926, + -3.6904379977064874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 85.42881490812458, + -428.26960847259926, + -3.6904379977064874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 85.42881490812458, + -425.26960847259926, + -3.6904379977064874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 85.42881490812458, + -422.26960847259926, + -3.6904379977064874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 85.42881490812458, + -419.26960847259926, + -3.6904379977064874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 85.42881490812458, + -416.26960847259926, + -3.6904379977064874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 85.42881490812458, + -413.26960847259926, + -3.6904379977064874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 85.42881490812458, + -410.26960847259926, + -3.6904379977064874 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 85.42881490812458, + -410.26960847259926, + -3.6904379977064874 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 85.42881490812458, + -410.26960847259926, + -3.6904379977064874 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 88.0268911194779, + -408.76960847259926, + -3.6904379977064874 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982989 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 90.3713176727295, + -405.9313674926758, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-23-2_1312313043/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-23-2_1312313043/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..af9dd799e886f983848546a1e1051caa4108df77 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-23-2_1312313043/pose.jsonl @@ -0,0 +1,53 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1009.0220262288099, + 72.58132618283716, + -0.7591959509513373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1009.0220262288099, + 75.58132618283716, + -0.7591959509513373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1009.0220262288099, + 78.58132618283716, + -0.7591959509513373 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 993.6485565185548, + 138.21244525909424, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-24-51_284665220/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-24-51_284665220/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..174b008209f73ef4fe3e32bdd427b86efc9884e7 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-24-51_284665220/pose.jsonl @@ -0,0 +1,274 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1505.4894909937327, + -3.2502930180419165, + -8.215192262321533 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1502.4894909937327, + -3.250293018041916, + -8.215192262321533 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1499.4894909937327, + -3.2502930180419156, + -8.215192262321533 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1496.4894909937327, + -3.250293018041915, + -8.215192262321533 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1493.4894909937327, + -3.2502930180419147, + -8.215192262321533 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1490.4894909937327, + -3.2502930180419143, + -8.215192262321533 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1487.4894909937327, + -3.250293018041914, + -8.215192262321533 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1484.4894909937327, + -3.2502930180419134, + -8.215192262321533 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1481.4894909937327, + -3.250293018041913, + -8.215192262321533 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1478.4894909937327, + -3.2502930180419125, + -8.215192262321533 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1475.4894909937327, + -3.250293018041912, + -8.215192262321533 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1472.4894909937327, + -3.2502930180419116, + -8.215192262321533 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1469.4894909937327, + -3.250293018041911, + -8.215192262321533 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1466.4894909937327, + -3.2502930180419107, + -8.215192262321533 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1463.4894909937327, + -3.2502930180419103, + -8.215192262321533 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1460.4894909937327, + -3.25029301804191, + -8.215192262321533 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1457.4894909937327, + -3.2502930180419094, + -8.215192262321533 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1454.4894909937327, + -3.250293018041909, + -8.215192262321533 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1454.4894909937327, + -3.250293018041909, + -8.215192262321533 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1451.8914147823793, + -1.7502930180419092, + -8.215192262321533 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1448.3586029052735, + -0.4004184722900391, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-27-12_192433878/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-27-12_192433878/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2ba2ed80e629ac58a26a7abfe45d36a42a30bf9a --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-27-12_192433878/pose.jsonl @@ -0,0 +1,300 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 552.926761382423, + -409.68601972387273, + -8.76253160238835 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 549.926761382423, + -409.68601972387273, + -8.76253160238835 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 546.926761382423, + -409.68601972387273, + -8.76253160238835 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 543.926761382423, + -409.68601972387273, + -8.76253160238835 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 540.926761382423, + -409.68601972387273, + -8.76253160238835 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 537.926761382423, + -409.68601972387273, + -8.76253160238835 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 534.926761382423, + -409.68601972387273, + -8.76253160238835 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 531.926761382423, + -409.68601972387273, + -8.76253160238835 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 528.926761382423, + -409.68601972387273, + -8.76253160238835 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 525.926761382423, + -409.68601972387273, + -8.76253160238835 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 525.926761382423, + -409.68601972387273, + -8.76253160238835 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 523.3286851710698, + -408.18601972387273, + -8.76253160238835 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 520.7306089597164, + -406.68601972387273, + -8.76253160238835 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 518.132532748363, + -405.18601972387273, + -8.76253160238835 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 515.5344565370096, + -403.68601972387273, + -8.76253160238835 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 512.9363803256563, + -402.18601972387273, + -8.76253160238835 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 510.33830411430296, + -400.68601972387273, + -8.76253160238835 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 507.74022790294964, + -399.18601972387273, + -8.76253160238835 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 505.1421516915963, + -397.68601972387273, + -8.76253160238835 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 502.544075480243, + -396.18601972387273, + -8.76253160238835 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 499.9459992688897, + -394.68601972387273, + -8.76253160238835 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 497.3479230575364, + -393.18601972387273, + -8.76253160238835 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 495.27006835937505, + -393.85822601318364, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-30-1_1538128223/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-30-1_1538128223/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c2fe4b9c6a70a800c181cb78dd6e6e31853ed38e --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-30-1_1538128223/pose.jsonl @@ -0,0 +1,274 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1388.2028802794646, + -250.6255160344461, + -6.773281054697077 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1388.2028802794646, + -247.6255160344461, + -6.773281054697077 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1388.2028802794646, + -244.6255160344461, + -6.773281054697077 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1388.2028802794646, + -241.6255160344461, + -6.773281054697077 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1388.2028802794646, + -238.6255160344461, + -6.773281054697077 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1388.2028802794646, + -235.6255160344461, + -6.773281054697077 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1388.2028802794646, + -232.6255160344461, + -6.773281054697077 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1388.2028802794646, + -229.6255160344461, + -6.773281054697077 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1388.2028802794646, + -226.6255160344461, + -6.773281054697077 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1388.2028802794646, + -226.6255160344461, + -6.773281054697077 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1386.7028802794646, + -224.02743982309278, + -6.773281054697077 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1385.2028802794646, + -221.42936361173946, + -6.773281054697077 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1383.7028802794646, + -218.83128740038615, + -6.773281054697077 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1382.2028802794646, + -216.23321118903283, + -6.773281054697077 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1380.7028802794646, + -213.6351349776795, + -6.773281054697077 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1379.2028802794646, + -211.0370587663262, + -6.773281054697077 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1377.7028802794646, + -208.43898255497288, + -6.773281054697077 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1376.2028802794646, + -205.84090634361957, + -6.773281054697077 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1374.7028802794646, + -203.24283013226625, + -6.773281054697077 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1373.2028802794646, + -200.64475392091293, + -6.773281054697077 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1374.3149368286133, + -198.07321910858155, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-31-44_1750621862/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-31-44_1750621862/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..55b1e06167f350b67004e8a1de500c659e04cdec --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-31-44_1750621862/pose.jsonl @@ -0,0 +1,378 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -349.2829771469975, + -157.37244169534983, + -2.0846274724113076 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -346.2829771469975, + -157.37244169534983, + -2.0846274724113076 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -343.2829771469975, + -157.37244169534983, + -2.0846274724113076 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -340.2829771469975, + -157.37244169534983, + -2.0846274724113076 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -337.2829771469975, + -157.37244169534983, + -2.0846274724113076 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -334.2829771469975, + -157.37244169534983, + -2.0846274724113076 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -331.2829771469975, + -157.37244169534983, + -2.0846274724113076 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -331.2829771469975, + -157.37244169534983, + -2.0846274724113076 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -328.6849009356442, + -158.87244169534983, + -2.0846274724113076 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -326.08682472429086, + -160.37244169534983, + -2.0846274724113076 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -323.48874851293755, + -161.87244169534983, + -2.0846274724113076 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -320.89067230158423, + -163.37244169534983, + -2.0846274724113076 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -318.2925960902309, + -164.87244169534983, + -2.0846274724113076 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -315.6945198788776, + -166.37244169534983, + -2.0846274724113076 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -313.0964436675243, + -167.87244169534983, + -2.0846274724113076 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -310.49836745617097, + -169.37244169534983, + -2.0846274724113076 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -307.90029124481765, + -170.87244169534983, + -2.0846274724113076 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -305.30221503346434, + -172.37244169534983, + -2.0846274724113076 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -302.704138822111, + -173.87244169534983, + -2.0846274724113076 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -300.1060626107577, + -175.37244169534983, + -2.0846274724113076 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -297.5079863994044, + -176.87244169534983, + -2.0846274724113076 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -294.90991018805107, + -178.37244169534983, + -2.0846274724113076 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -292.31183397669776, + -179.87244169534983, + -2.0846274724113076 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -289.71375776534444, + -181.37244169534983, + -2.0846274724113076 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -287.1156815539911, + -182.87244169534983, + -2.0846274724113076 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -284.5176053426378, + -184.37244169534983, + -2.0846274724113076 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -281.9195291312845, + -185.87244169534983, + -2.0846274724113076 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -279.3214529199312, + -187.37244169534983, + -2.0846274724113076 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -277.72470836639405, + -188.3509792327881, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-31-59_1904251768/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-31-59_1904251768/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..28fc0ee8bf3f975c3ae1286f8acd0bb769a0a616 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-31-59_1904251768/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1257.0776054420564, + -305.5433699603481, + -4.5372979601710695 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1257.0776054420564, + -302.5433699603481, + -4.5372979601710695 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1257.0776054420564, + -299.5433699603481, + -4.5372979601710695 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1257.0776054420564, + -296.5433699603481, + -4.5372979601710695 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1257.0776054420564, + -293.5433699603481, + -4.5372979601710695 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1257.0776054420564, + -290.5433699603481, + -4.5372979601710695 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1257.0776054420564, + -287.5433699603481, + -4.5372979601710695 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1257.0776054420564, + -284.5433699603481, + -4.5372979601710695 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1257.0776054420564, + -281.5433699603481, + -4.5372979601710695 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1257.0776054420564, + -278.5433699603481, + -4.5372979601710695 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1257.0776054420564, + -275.5433699603481, + -4.5372979601710695 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1257.0776054420564, + -272.5433699603481, + -4.5372979601710695 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1257.0776054420564, + -269.5433699603481, + -4.5372979601710695 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1257.0776054420564, + -266.5433699603481, + -4.5372979601710695 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1257.0776054420564, + -263.5433699603481, + -4.5372979601710695 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1257.0776054420564, + -263.5433699603481, + -4.5372979601710695 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1258.5776054420564, + -260.9452937489948, + -4.5372979601710695 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1260.0776054420564, + -258.3472175376415, + -4.5372979601710695 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1261.5776054420564, + -255.74914132628817, + -4.5372979601710695 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1263.0776054420564, + -253.15106511493485, + -4.5372979601710695 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1264.5776054420564, + -250.55298890358154, + -4.5372979601710695 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1266.0776054420564, + -247.95491269222822, + -4.5372979601710695 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1267.5776054420564, + -245.3568364808749, + -4.5372979601710695 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1269.0776054420564, + -242.7587602695216, + -4.5372979601710695 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1270.5776054420564, + -240.16068405816827, + -4.5372979601710695 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1272.0776054420564, + -237.56260784681496, + -4.5372979601710695 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1273.5776054420564, + -234.96453163546164, + -4.5372979601710695 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1273.901252746582, + -233.9151123046875, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-35-1_251243823/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-35-1_251243823/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ec8c434a7fd3e64eb7172ef1262c8fff5a39f07e --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-35-1_251243823/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1254.8674885743826, + 109.06066964349297, + -6.067413081235007 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1254.8674885743826, + 112.06066964349297, + -6.067413081235007 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1254.8674885743826, + 115.06066964349297, + -6.067413081235007 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1254.8674885743826, + 118.06066964349297, + -6.067413081235007 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1254.8674885743826, + 121.06066964349297, + -6.067413081235007 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1254.8674885743826, + 124.06066964349297, + -6.067413081235007 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1254.8674885743826, + 127.06066964349297, + -6.067413081235007 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1254.8674885743826, + 130.060669643493, + -6.067413081235007 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1254.8674885743826, + 133.060669643493, + -6.067413081235007 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1254.8674885743826, + 136.060669643493, + -6.067413081235007 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1254.8674885743826, + 139.060669643493, + -6.067413081235007 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1254.8674885743826, + 142.060669643493, + -6.067413081235007 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1254.8674885743826, + 142.060669643493, + -6.067413081235007 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1256.3674885743826, + 144.6587458548463, + -6.067413081235007 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1257.8674885743826, + 147.25682206619962, + -6.067413081235007 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1259.3674885743826, + 149.85489827755293, + -6.067413081235007 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1260.8674885743826, + 152.45297448890625, + -6.067413081235007 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1262.3674885743826, + 155.05105070025957, + -6.067413081235007 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1263.8674885743826, + 157.64912691161288, + -6.067413081235007 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1265.3674885743826, + 160.2472031229662, + -6.067413081235007 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1266.8674885743826, + 162.8452793343195, + -6.067413081235007 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1268.3674885743826, + 165.44335554567283, + -6.067413081235007 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1268.3674885743826, + 165.44335554567283, + -6.067413081235007 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1268.3674885743826, + 168.44335554567283, + -6.067413081235007 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1268.3674885743826, + 171.44335554567283, + -6.067413081235007 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1269.6296508789064, + 175.0053077697754, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-58-58_2122466788/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-58-58_2122466788/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e99db14759f86472cc65d343150d555b8119d481 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-58-58_2122466788/pose.jsonl @@ -0,0 +1,170 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 849.816196992771, + 58.01915575356868, + -9.12911154644376 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 847.2181207814176, + 59.51915575356868, + -9.12911154644376 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 844.6200445700642, + 61.01915575356868, + -9.12911154644376 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 842.0219683587109, + 62.51915575356868, + -9.12911154644376 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 839.4238921473575, + 64.01915575356868, + -9.12911154644376 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 836.8258159360041, + 65.51915575356868, + -9.12911154644376 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 834.2277397246507, + 67.01915575356868, + -9.12911154644376 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 831.6296635132974, + 68.51915575356868, + -9.12911154644376 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 829.031587301944, + 70.01915575356868, + -9.12911154644376 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 826.4335110905906, + 71.51915575356868, + -9.12911154644376 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 826.4335110905906, + 71.51915575356868, + -9.12911154644376 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 824.9335110905906, + 74.117231964922, + -9.12911154644376 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393205 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 793.9949005126954, + 95.9690920829773, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-7-42_1851445950/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-7-42_1851445950/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d31f1771939e3681ca7c471de60a8d6096ec667e --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-7-42_1851445950/pose.jsonl @@ -0,0 +1,378 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 498.63368305224515, + -625.7945857299167, + -0.5815895965139379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 496.03560684089183, + -624.2945857299167, + -0.5815895965139379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 493.4375306295385, + -622.7945857299167, + -0.5815895965139379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 490.8394544181852, + -621.2945857299167, + -0.5815895965139379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 488.2413782068319, + -619.7945857299167, + -0.5815895965139379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 485.64330199547857, + -618.2945857299167, + -0.5815895965139379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 483.04522578412525, + -616.7945857299167, + -0.5815895965139379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 480.44714957277193, + -615.2945857299167, + -0.5815895965139379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 477.8490733614186, + -613.7945857299167, + -0.5815895965139379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 475.2509971500653, + -612.2945857299167, + -0.5815895965139379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 472.652920938712, + -610.7945857299167, + -0.5815895965139379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 470.05484472735867, + -609.2945857299167, + -0.5815895965139379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 467.45676851600535, + -607.7945857299167, + -0.5815895965139379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 464.85869230465204, + -606.2945857299167, + -0.5815895965139379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 462.2606160932987, + -604.7945857299167, + -0.5815895965139379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 459.6625398819454, + -603.2945857299167, + -0.5815895965139379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 457.0644636705921, + -601.7945857299167, + -0.5815895965139379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 454.4663874592388, + -600.2945857299167, + -0.5815895965139379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 451.86831124788546, + -598.7945857299167, + -0.5815895965139379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 449.27023503653214, + -597.2945857299167, + -0.5815895965139379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 446.6721588251788, + -595.7945857299167, + -0.5815895965139379 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 446.6721588251788, + -595.7945857299167, + -0.5815895965139379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 445.1721588251788, + -593.1965095185633, + -0.5815895965139379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 443.6721588251788, + -590.5984333072099, + -0.5815895965139379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 442.1721588251788, + -588.0003570958565, + -0.5815895965139379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 440.6721588251788, + -585.4022808845032, + -0.5815895965139379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 439.1721588251788, + -582.8042046731498, + -0.5815895965139379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 437.6721588251788, + -580.2061284617964, + -0.5815895965139379 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 437.9839408874512, + -578.2894577026368, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-24-38_1249152986/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-24-38_1249152986/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ad13f32e9b3ce760c9671f83e316c92d943f02c8 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-24-38_1249152986/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 219.5481225089199, + 192.02551969034045, + -7.24694505058217 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 221.0481225089199, + 189.42744347898713, + -7.24694505058217 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 222.5481225089199, + 186.8293672676338, + -7.24694505058217 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 224.0481225089199, + 184.2312910562805, + -7.24694505058217 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 225.5481225089199, + 181.63321484492718, + -7.24694505058217 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 227.0481225089199, + 179.03513863357387, + -7.24694505058217 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 228.5481225089199, + 176.43706242222055, + -7.24694505058217 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 230.0481225089199, + 173.83898621086723, + -7.24694505058217 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 231.5481225089199, + 171.24090999951392, + -7.24694505058217 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 233.0481225089199, + 168.6428337881606, + -7.24694505058217 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 234.5481225089199, + 166.04475757680729, + -7.24694505058217 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 236.0481225089199, + 163.44668136545397, + -7.24694505058217 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 237.5481225089199, + 160.84860515410065, + -7.24694505058217 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 239.0481225089199, + 158.25052894274734, + -7.24694505058217 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 240.5481225089199, + 155.65245273139402, + -7.24694505058217 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 242.0481225089199, + 153.0543765200407, + -7.24694505058217 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 242.0481225089199, + 153.0543765200407, + -7.24694505058217 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 244.64619872027322, + 151.5543765200407, + -7.24694505058217 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 247.24427493162653, + 150.0543765200407, + -7.24694505058217 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 249.84235114297985, + 148.5543765200407, + -7.24694505058217 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 252.44042735433317, + 147.0543765200407, + -7.24694505058217 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 255.03850356568648, + 145.5543765200407, + -7.24694505058217 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 257.6365797770398, + 144.0543765200407, + -7.24694505058217 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 258.26647663116455, + 142.7095600128174, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-28-9_770833934/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-28-9_770833934/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ce504565882f1b09f877d1cb194d8d8882f5b5a2 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-28-9_770833934/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -98.7658943008008, + -717.9435993109876, + -9.92173489158056 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -95.7658943008008, + -717.9435993109876, + -9.92173489158056 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -92.7658943008008, + -717.9435993109876, + -9.92173489158056 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -89.7658943008008, + -717.9435993109876, + -9.92173489158056 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -86.7658943008008, + -717.9435993109876, + -9.92173489158056 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -83.7658943008008, + -717.9435993109876, + -9.92173489158056 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -80.7658943008008, + -717.9435993109876, + -9.92173489158056 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -77.7658943008008, + -717.9435993109876, + -9.92173489158056 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -74.7658943008008, + -717.9435993109876, + -9.92173489158056 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -71.7658943008008, + -717.9435993109876, + -9.92173489158056 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -68.7658943008008, + -717.9435993109876, + -9.92173489158056 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -65.7658943008008, + -717.9435993109876, + -9.92173489158056 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -62.765894300800795, + -717.9435993109876, + -9.92173489158056 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -59.765894300800795, + -717.9435993109876, + -9.92173489158056 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -56.765894300800795, + -717.9435993109876, + -9.92173489158056 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -53.765894300800795, + -717.9435993109876, + -9.92173489158056 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -50.765894300800795, + -717.9435993109876, + -9.92173489158056 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -47.765894300800795, + -717.9435993109876, + -9.92173489158056 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -44.765894300800795, + -717.9435993109876, + -9.92173489158056 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -41.765894300800795, + -717.9435993109876, + -9.92173489158056 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -38.765894300800795, + -717.9435993109876, + -9.92173489158056 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -38.765894300800795, + -717.9435993109876, + -9.92173489158056 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -36.16781808944748, + -719.4435993109876, + -9.92173489158056 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -33.56974187809416, + -720.9435993109876, + -9.92173489158056 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -30.971665666740847, + -722.4435993109876, + -9.92173489158056 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -27.698616790771485, + -723.4622337341309, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-3-4_914600930/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-3-4_914600930/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1b497657477278128075f90971f6868945766b9f --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-3-4_914600930/pose.jsonl @@ -0,0 +1,287 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -292.61134646401445, + -54.990601115343715, + -2.6471330260922006 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -295.20942267536776, + -56.490601115343715, + -2.6471330260922006 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -297.8074988867211, + -57.990601115343715, + -2.6471330260922006 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -300.4055750980744, + -59.490601115343715, + -2.6471330260922006 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -303.0036513094277, + -60.990601115343715, + -2.6471330260922006 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -305.601727520781, + -62.490601115343715, + -2.6471330260922006 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -308.19980373213434, + -63.990601115343715, + -2.6471330260922006 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -310.79787994348766, + -65.49060111534371, + -2.6471330260922006 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -313.395956154841, + -66.99060111534371, + -2.6471330260922006 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -315.9940323661943, + -68.49060111534371, + -2.6471330260922006 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -318.5921085775476, + -69.99060111534371, + -2.6471330260922006 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -321.1901847889009, + -71.49060111534371, + -2.6471330260922006 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -323.78826100025424, + -72.99060111534371, + -2.6471330260922006 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -323.78826100025424, + -72.99060111534371, + -2.6471330260922006 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -325.28826100025424, + -75.58867732669702, + -2.6471330260922006 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -326.78826100025424, + -78.18675353805034, + -2.6471330260922006 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -328.28826100025424, + -80.78482974940366, + -2.6471330260922006 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -329.78826100025424, + -83.38290596075697, + -2.6471330260922006 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -331.28826100025424, + -85.98098217211029, + -2.6471330260922006 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -332.78826100025424, + -88.5790583834636, + -2.6471330260922006 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -334.28826100025424, + -91.17713459481692, + -2.6471330260922006 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -335.7922431945801, + -91.63226652145386, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-30-7_1470593630/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-30-7_1470593630/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ddfc47a6bea340f3caf60d851d78724a12f6a88e --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-30-7_1470593630/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 95.29201525437082, + -33.571156426783304, + -0.771715316898673 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 92.69393904301751, + -32.071156426783304, + -0.771715316898673 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 90.09586283166419, + -30.571156426783304, + -0.771715316898673 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 87.49778662031088, + -29.071156426783304, + -0.771715316898673 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 84.89971040895756, + -27.571156426783304, + -0.771715316898673 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 82.30163419760424, + -26.071156426783304, + -0.771715316898673 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 79.70355798625093, + -24.571156426783304, + -0.771715316898673 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 77.10548177489761, + -23.071156426783304, + -0.771715316898673 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 74.5074055635443, + -21.571156426783304, + -0.771715316898673 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 71.90932935219098, + -20.071156426783304, + -0.771715316898673 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 69.31125314083766, + -18.571156426783304, + -0.771715316898673 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 66.71317692948435, + -17.071156426783304, + -0.771715316898673 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 64.11510071813103, + -15.571156426783304, + -0.771715316898673 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 61.517024506777716, + -14.071156426783304, + -0.771715316898673 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 58.9189482954244, + -12.571156426783304, + -0.771715316898673 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 56.320872084071084, + -11.071156426783304, + -0.771715316898673 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 53.72279587271777, + -9.571156426783304, + -0.771715316898673 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 51.12471966136445, + -8.071156426783304, + -0.771715316898673 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 48.526643450011136, + -6.571156426783304, + -0.771715316898673 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 45.92856723865782, + -5.071156426783304, + -0.771715316898673 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 43.330491027304504, + -3.571156426783304, + -0.771715316898673 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 40.73241481595119, + -2.071156426783304, + -0.771715316898673 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 38.13433860459787, + -0.5711564267833042, + -0.771715316898673 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 35.536262393244556, + 0.9288435732166955, + -0.771715316898673 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 32.93818618189124, + 2.428843573216695, + -0.771715316898673 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 31.34878616333008, + 1.572951889038086, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-31-31_966071161/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-31-31_966071161/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0e71360383f02cabe1c41a16a28b1452c107f49c --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-31-31_966071161/pose.jsonl @@ -0,0 +1,274 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -19.72492459991902, + -17.69145471179705, + -0.6953502092651114 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -17.126848388565705, + -16.19145471179705, + -0.6953502092651114 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -14.528772177212389, + -14.69145471179705, + -0.6953502092651114 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -11.930695965859073, + -13.19145471179705, + -0.6953502092651114 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -9.332619754505757, + -11.69145471179705, + -0.6953502092651114 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -6.734543543152441, + -10.19145471179705, + -0.6953502092651114 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -4.136467331799125, + -8.69145471179705, + -0.6953502092651114 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1.5383911204458087, + -7.19145471179705, + -0.6953502092651114 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1.0596850909075073, + -5.69145471179705, + -0.6953502092651114 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 3.6577613022608233, + -4.19145471179705, + -0.6953502092651114 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 6.255837513614139, + -2.69145471179705, + -0.6953502092651114 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 8.853913724967455, + -1.1914547117970502, + -0.6953502092651114 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 11.451989936320771, + 0.3085452882029496, + -0.6953502092651114 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 14.050066147674087, + 1.8085452882029494, + -0.6953502092651114 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 16.648142359027403, + 3.308545288202949, + -0.6953502092651114 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 16.648142359027403, + 3.308545288202949, + -0.6953502092651114 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 19.648142359027403, + 3.308545288202949, + -0.6953502092651114 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 22.648142359027403, + 3.308545288202949, + -0.6953502092651114 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 25.648142359027403, + 3.308545288202949, + -0.6953502092651114 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 28.648142359027403, + 3.308545288202949, + -0.6953502092651114 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 31.950906944274905, + 5.022578048706055, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-36-59_423401433/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-36-59_423401433/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..90ac556f7b14b7b779309fb4463b43c9f0aaaa1b --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-36-59_423401433/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1395.7651240577582, + 24.915813263801425, + -3.9948880273871623 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1397.2651240577582, + 27.51388947515474, + -3.9948880273871623 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1398.7651240577582, + 30.111965686508057, + -3.9948880273871623 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1400.2651240577582, + 32.71004189786137, + -3.9948880273871623 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1401.7651240577582, + 35.30811810921469, + -3.9948880273871623 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1403.2651240577582, + 37.906194320568005, + -3.9948880273871623 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1404.7651240577582, + 40.50427053192132, + -3.9948880273871623 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1406.2651240577582, + 43.10234674327464, + -3.9948880273871623 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1407.7651240577582, + 45.70042295462795, + -3.9948880273871623 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1409.2651240577582, + 48.29849916598127, + -3.9948880273871623 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1410.7651240577582, + 50.896575377334585, + -3.9948880273871623 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1412.2651240577582, + 53.4946515886879, + -3.9948880273871623 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1413.7651240577582, + 56.09272780004122, + -3.9948880273871623 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1415.2651240577582, + 58.69080401139453, + -3.9948880273871623 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1416.7651240577582, + 61.28888022274785, + -3.9948880273871623 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1418.2651240577582, + 63.886956434101165, + -3.9948880273871623 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1419.7651240577582, + 66.48503264545448, + -3.9948880273871623 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1421.2651240577582, + 69.0831088568078, + -3.9948880273871623 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1422.7651240577582, + 71.68118506816111, + -3.9948880273871623 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1424.2651240577582, + 74.27926127951443, + -3.9948880273871623 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1424.2651240577582, + 74.27926127951443, + -3.9948880273871623 + ], + "type": "turn right", + "value": 30, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1424.2651240577582, + 74.27926127951443, + -3.9948880273871623 + ], + "type": "go straight", + "value": 3, + "yaw": 2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1427.2651240577582, + 74.27926127951443, + -3.9948880273871623 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1430.2651240577582, + 74.27926127951443, + -3.9948880273871623 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1432.5684967041016, + 76.17316565513612, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-4-30_1744161708/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-4-30_1744161708/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..163f24b69ed65bc29d9c0b212118ba663733d394 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-4-30_1744161708/pose.jsonl @@ -0,0 +1,235 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 425.9868962991114, + -477.42361587532264, + -2.1454923500390297 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 424.4868962991114, + -474.8255396639693, + -2.1454923500390297 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 422.9868962991114, + -472.227463452616, + -2.1454923500390297 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 421.4868962991114, + -469.6293872412627, + -2.1454923500390297 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 419.9868962991114, + -467.0313110299094, + -2.1454923500390297 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 418.4868962991114, + -464.43323481855606, + -2.1454923500390297 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 416.9868962991114, + -461.83515860720274, + -2.1454923500390297 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 415.4868962991114, + -459.2370823958494, + -2.1454923500390297 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 413.9868962991114, + -456.6390061844961, + -2.1454923500390297 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 413.9868962991114, + -456.6390061844961, + -2.1454923500390297 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 413.9868962991114, + -453.6390061844961, + -2.1454923500390297 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 413.9868962991114, + -450.6390061844961, + -2.1454923500390297 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 413.9868962991114, + -447.6390061844961, + -2.1454923500390297 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 413.9868962991114, + -444.6390061844961, + -2.1454923500390297 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 413.9868962991114, + -441.6390061844961, + -2.1454923500390297 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 413.9868962991114, + -438.6390061844961, + -2.1454923500390297 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 413.9868962991114, + -435.6390061844961, + -2.1454923500390297 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 410.6194187164307, + -422.415909576416, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-51-6_150203107/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-51-6_150203107/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8ffbcc6d9d65a18746e897f7e4c38c37d8eb93ab --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-51-6_150203107/pose.jsonl @@ -0,0 +1,300 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -336.59584207575494, + -26.69237172334998, + -4.254371266987389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -336.59584207575494, + -29.69237172334998, + -4.254371266987389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -336.59584207575494, + -32.69237172334998, + -4.254371266987389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -336.59584207575494, + -35.69237172334998, + -4.254371266987389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -336.59584207575494, + -38.69237172334998, + -4.254371266987389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -336.59584207575494, + -41.69237172334998, + -4.254371266987389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -336.59584207575494, + -44.69237172334998, + -4.254371266987389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -336.59584207575494, + -47.69237172334998, + -4.254371266987389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -336.59584207575494, + -50.69237172334998, + -4.254371266987389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -336.59584207575494, + -53.69237172334998, + -4.254371266987389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -336.59584207575494, + -56.69237172334998, + -4.254371266987389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -336.59584207575494, + -59.69237172334998, + -4.254371266987389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -336.59584207575494, + -62.69237172334998, + -4.254371266987389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -336.59584207575494, + -65.69237172334998, + -4.254371266987389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -336.59584207575494, + -68.69237172334998, + -4.254371266987389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -336.59584207575494, + -71.69237172334998, + -4.254371266987389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -336.59584207575494, + -74.69237172334998, + -4.254371266987389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -336.59584207575494, + -77.69237172334998, + -4.254371266987389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -336.59584207575494, + -80.69237172334998, + -4.254371266987389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -336.59584207575494, + -83.69237172334998, + -4.254371266987389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -336.59584207575494, + -86.69237172334998, + -4.254371266987389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -336.59584207575494, + -89.69237172334998, + -4.254371266987389 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -335.7922431945801, + -91.63226652145386, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-54-42_236616554/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-54-42_236616554/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6fe7a6d0d67f7169e7926e160e20b30dd47b398b --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-54-42_236616554/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -87.68251316820877, + -683.5663194594628, + -4.092058785238568 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -89.18251316820877, + -686.164395670816, + -4.092058785238568 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -90.68251316820877, + -688.7624718821694, + -4.092058785238568 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -92.18251316820877, + -691.3605480935228, + -4.092058785238568 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -93.68251316820877, + -693.9586243048761, + -4.092058785238568 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -95.18251316820877, + -696.5567005162295, + -4.092058785238568 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -96.68251316820877, + -699.1547767275829, + -4.092058785238568 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -98.18251316820877, + -701.7528529389363, + -4.092058785238568 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -99.68251316820877, + -704.3509291502896, + -4.092058785238568 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -101.18251316820877, + -706.949005361643, + -4.092058785238568 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -102.68251316820877, + -709.5470815729964, + -4.092058785238568 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -104.18251316820877, + -712.1451577843497, + -4.092058785238568 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -105.68251316820877, + -714.7432339957031, + -4.092058785238568 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -107.18251316820877, + -717.3413102070565, + -4.092058785238568 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -107.18251316820877, + -717.3413102070565, + -4.092058785238568 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -109.78058937956209, + -718.8413102070565, + -4.092058785238568 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -112.3786655909154, + -720.3413102070565, + -4.092058785238568 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -114.97674180226872, + -721.8413102070565, + -4.092058785238568 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -117.57481801362204, + -723.3413102070565, + -4.092058785238568 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -120.17289422497535, + -724.8413102070565, + -4.092058785238568 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -122.77097043632867, + -726.3413102070565, + -4.092058785238568 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -125.36904664768198, + -727.8413102070565, + -4.092058785238568 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -127.9671228590353, + -729.3413102070565, + -4.092058785238568 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -130.4267204284668, + -730.7557357788087, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-57-53_346804712/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-57-53_346804712/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..01d46084efa8aab864ebf192a82b73ef42bd1843 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-57-53_346804712/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -79.23294972475355, + -447.9645333665691, + -0.2833389305946028 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -81.83102593610687, + -446.4645333665691, + -0.2833389305946028 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -84.42910214746018, + -444.9645333665691, + -0.2833389305946028 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -87.0271783588135, + -443.4645333665691, + -0.2833389305946028 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -89.62525457016682, + -441.9645333665691, + -0.2833389305946028 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -92.22333078152013, + -440.4645333665691, + -0.2833389305946028 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -94.82140699287345, + -438.9645333665691, + -0.2833389305946028 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -97.41948320422676, + -437.4645333665691, + -0.2833389305946028 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -100.01755941558008, + -435.9645333665691, + -0.2833389305946028 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -102.6156356269334, + -434.4645333665691, + -0.2833389305946028 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -105.21371183828671, + -432.9645333665691, + -0.2833389305946028 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -107.81178804964003, + -431.4645333665691, + -0.2833389305946028 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -110.40986426099334, + -429.9645333665691, + -0.2833389305946028 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -110.40986426099334, + -429.9645333665691, + -0.2833389305946028 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -111.90986426099334, + -427.3664571552158, + -0.2833389305946028 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -113.40986426099334, + -424.7683809438625, + -0.2833389305946028 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -114.90986426099334, + -422.1703047325092, + -0.2833389305946028 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -116.40986426099334, + -419.57222852115586, + -0.2833389305946028 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -117.90986426099334, + -416.97415230980255, + -0.2833389305946028 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -119.40986426099334, + -414.37607609844923, + -0.2833389305946028 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -120.90986426099334, + -411.7779998870959, + -0.2833389305946028 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -122.40986426099334, + -409.1799236757426, + -0.2833389305946028 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -123.90986426099334, + -406.5818474643893, + -0.2833389305946028 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -125.40986426099334, + -403.98377125303597, + -0.2833389305946028 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -126.90986426099334, + -401.38569504168265, + -0.2833389305946028 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -128.40986426099334, + -398.78761883032934, + -0.2833389305946028 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -129.16454372406008, + -397.39995117187505, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-9-30_2008532428/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-9-30_2008532428/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a35dd2f5807ba774ba9aab0b9dbe550b3ad8e4da --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-9-30_2008532428/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1226.5903481137095, + 110.99968100841431, + -1.1425223079846187 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1228.0903481137095, + 113.59775721976763, + -1.1425223079846187 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1229.5903481137095, + 116.19583343112095, + -1.1425223079846187 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1231.0903481137095, + 118.79390964247426, + -1.1425223079846187 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1232.5903481137095, + 121.39198585382758, + -1.1425223079846187 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1234.0903481137095, + 123.9900620651809, + -1.1425223079846187 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1235.5903481137095, + 126.58813827653421, + -1.1425223079846187 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1237.0903481137095, + 129.18621448788753, + -1.1425223079846187 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1238.5903481137095, + 131.78429069924084, + -1.1425223079846187 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1240.0903481137095, + 134.38236691059416, + -1.1425223079846187 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1241.5903481137095, + 136.98044312194747, + -1.1425223079846187 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1243.0903481137095, + 139.5785193333008, + -1.1425223079846187 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1244.5903481137095, + 142.1765955446541, + -1.1425223079846187 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1246.0903481137095, + 144.77467175600742, + -1.1425223079846187 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1247.5903481137095, + 147.37274796736074, + -1.1425223079846187 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1249.0903481137095, + 149.97082417871405, + -1.1425223079846187 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1250.5903481137095, + 152.56890039006737, + -1.1425223079846187 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1252.0903481137095, + 155.16697660142069, + -1.1425223079846187 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1253.5903481137095, + 157.765052812774, + -1.1425223079846187 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1255.0903481137095, + 160.36312902412732, + -1.1425223079846187 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1256.5903481137095, + 162.96120523548063, + -1.1425223079846187 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1258.0903481137095, + 165.55928144683395, + -1.1425223079846187 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1258.0903481137095, + 165.55928144683395, + -1.1425223079846187 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1260.688424325063, + 167.05928144683395, + -1.1425223079846187 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1263.2865005364163, + 168.55928144683395, + -1.1425223079846187 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1265.8845767477696, + 170.05928144683395, + -1.1425223079846187 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1268.482652959123, + 171.55928144683395, + -1.1425223079846187 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1269.6296508789064, + 175.0053077697754, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-11-51_1628573790/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-11-51_1628573790/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f816e336307b8b935f5f8cade99cc35118d8b8cd --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-11-51_1628573790/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 314.3693507412976, + 179.7367961252861, + -6.254930260983575 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 314.3693507412976, + 182.7367961252861, + -6.254930260983575 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 314.3693507412976, + 185.7367961252861, + -6.254930260983575 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 314.3693507412976, + 188.7367961252861, + -6.254930260983575 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 314.3693507412976, + 191.7367961252861, + -6.254930260983575 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 314.3693507412976, + 194.7367961252861, + -6.254930260983575 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 314.3693507412976, + 197.7367961252861, + -6.254930260983575 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 314.3693507412976, + 200.7367961252861, + -6.254930260983575 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 314.3693507412976, + 203.7367961252861, + -6.254930260983575 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 314.3693507412976, + 206.7367961252861, + -6.254930260983575 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 314.3693507412976, + 209.7367961252861, + -6.254930260983575 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 314.3693507412976, + 212.7367961252861, + -6.254930260983575 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 314.3693507412976, + 215.7367961252861, + -6.254930260983575 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 314.3693507412976, + 218.7367961252861, + -6.254930260983575 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 314.3693507412976, + 221.7367961252861, + -6.254930260983575 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 314.3693507412976, + 224.7367961252861, + -6.254930260983575 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 314.3693507412976, + 227.7367961252861, + -6.254930260983575 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 314.3693507412976, + 230.7367961252861, + -6.254930260983575 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 314.3693507412976, + 233.7367961252861, + -6.254930260983575 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 314.3693507412976, + 236.7367961252861, + -6.254930260983575 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 314.3693507412976, + 239.7367961252861, + -6.254930260983575 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 314.3693507412976, + 242.7367961252861, + -6.254930260983575 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 314.3693507412976, + 242.7367961252861, + -6.254930260983575 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 315.8693507412976, + 245.33487233663942, + -6.254930260983575 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 317.3693507412976, + 247.93294854799274, + -6.254930260983575 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 317.568487739563, + 250.2678318023682, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-12-20_135177290/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-12-20_135177290/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..052d4a0949619624cc2447a94ad56f420fbbd038 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-12-20_135177290/pose.jsonl @@ -0,0 +1,300 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -326.32588633988917, + -170.65665178200382, + -6.492349882240907 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -323.32588633988917, + -170.65665178200382, + -6.492349882240907 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -320.32588633988917, + -170.65665178200382, + -6.492349882240907 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -317.32588633988917, + -170.65665178200382, + -6.492349882240907 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -314.32588633988917, + -170.65665178200382, + -6.492349882240907 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -311.32588633988917, + -170.65665178200382, + -6.492349882240907 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -308.32588633988917, + -170.65665178200382, + -6.492349882240907 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -305.32588633988917, + -170.65665178200382, + -6.492349882240907 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -302.32588633988917, + -170.65665178200382, + -6.492349882240907 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -299.32588633988917, + -170.65665178200382, + -6.492349882240907 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -296.32588633988917, + -170.65665178200382, + -6.492349882240907 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -293.32588633988917, + -170.65665178200382, + -6.492349882240907 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -293.32588633988917, + -170.65665178200382, + -6.492349882240907 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -293.32588633988917, + -170.65665178200382, + -6.492349882240907 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -291.82588633988917, + -173.25472799335714, + -6.492349882240907 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -290.32588633988917, + -175.85280420471045, + -6.492349882240907 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -288.82588633988917, + -178.45088041606377, + -6.492349882240907 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -287.32588633988917, + -181.04895662741708, + -6.492349882240907 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -287.32588633988917, + -181.04895662741708, + -6.492349882240907 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -284.72781012853585, + -182.54895662741708, + -6.492349882240907 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -282.12973391718253, + -184.04895662741708, + -6.492349882240907 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -279.5316577058292, + -185.54895662741708, + -6.492349882240907 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -277.72470836639405, + -188.3509792327881, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-18-47_749217043/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-18-47_749217043/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0d06b87092905ba3860e96243138636966010a3c --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-18-47_749217043/pose.jsonl @@ -0,0 +1,248 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -155.68218515669903, + -351.6301625574508, + -1.1731009217787864 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -154.18218515669903, + -354.2282387688041, + -1.1731009217787864 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -152.68218515669903, + -356.8263149801574, + -1.1731009217787864 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -151.18218515669903, + -359.4243911915107, + -1.1731009217787864 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -149.68218515669903, + -362.02246740286404, + -1.1731009217787864 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -148.18218515669903, + -364.62054361421735, + -1.1731009217787864 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -146.68218515669903, + -367.21861982557067, + -1.1731009217787864 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -145.18218515669903, + -369.816696036924, + -1.1731009217787864 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -143.68218515669903, + -372.4147722482773, + -1.1731009217787864 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -142.18218515669903, + -375.0128484596306, + -1.1731009217787864 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -140.68218515669903, + -377.61092467098393, + -1.1731009217787864 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -139.18218515669903, + -380.20900088233725, + -1.1731009217787864 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -137.68218515669903, + -382.80707709369057, + -1.1731009217787864 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -136.18218515669903, + -385.4051533050439, + -1.1731009217787864 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -134.68218515669903, + -388.0032295163972, + -1.1731009217787864 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -133.18218515669903, + -390.6013057277505, + -1.1731009217787864 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -131.68218515669903, + -393.19938193910383, + -1.1731009217787864 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -130.18218515669903, + -395.79745815045715, + -1.1731009217787864 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -129.16454372406008, + -397.39995117187505, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-36-21_939882271/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-36-21_939882271/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..39596fabfb32f96b44b171d5244c59a039849c7e --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-36-21_939882271/pose.jsonl @@ -0,0 +1,261 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 24.824009187677323, + -515.8035657962218, + -3.913811316395729 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 23.324009187677323, + -513.2054895848685, + -3.913811316395729 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 21.824009187677323, + -510.60741337351516, + -3.913811316395729 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 20.324009187677323, + -508.00933716216184, + -3.913811316395729 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 18.824009187677323, + -505.4112609508085, + -3.913811316395729 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 17.324009187677323, + -502.8131847394552, + -3.913811316395729 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 15.824009187677323, + -500.2151085281019, + -3.913811316395729 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 14.324009187677323, + -497.6170323167486, + -3.913811316395729 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 12.824009187677323, + -495.01895610539526, + -3.913811316395729 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 11.324009187677323, + -492.42087989404195, + -3.913811316395729 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 9.824009187677323, + -489.82280368268863, + -3.913811316395729 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 8.324009187677323, + -487.2247274713353, + -3.913811316395729 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 6.824009187677324, + -484.626651259982, + -3.913811316395729 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 5.324009187677325, + -482.0285750486287, + -3.913811316395729 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 3.8240091876773254, + -479.43049883727537, + -3.913811316395729 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 2.3240091876773263, + -476.83242262592205, + -3.913811316395729 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 0.824009187677327, + -474.23434641456873, + -3.913811316395729 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 0.824009187677327, + -474.23434641456873, + -3.913811316395729 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1.774067023675989, + -472.73434641456873, + -3.913811316395729 + ], + "type": "stop", + "value": 0, + "yaw": 2.617993877991494 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -3.1689678192138673, + -469.5184967041016, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-38-19_867874951/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-38-19_867874951/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c079eebd35d61c2a57a13decab4273ab912c6c92 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-38-19_867874951/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 532.320350690975, + -451.6125062695437, + -1.9769306724601865 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 530.820350690975, + -449.0144300581904, + -1.9769306724601865 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 529.320350690975, + -446.41635384683707, + -1.9769306724601865 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 527.820350690975, + -443.81827763548375, + -1.9769306724601865 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 526.320350690975, + -441.22020142413044, + -1.9769306724601865 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 524.820350690975, + -438.6221252127771, + -1.9769306724601865 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 523.320350690975, + -436.0240490014238, + -1.9769306724601865 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 521.820350690975, + -433.4259727900705, + -1.9769306724601865 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 520.320350690975, + -430.8278965787172, + -1.9769306724601865 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 518.820350690975, + -428.22982036736386, + -1.9769306724601865 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 517.320350690975, + -425.63174415601054, + -1.9769306724601865 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 515.820350690975, + -423.0336679446572, + -1.9769306724601865 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 514.320350690975, + -420.4355917333039, + -1.9769306724601865 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 512.820350690975, + -417.8375155219506, + -1.9769306724601865 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 511.32035069097503, + -415.2394393105973, + -1.9769306724601865 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 509.82035069097503, + -412.64136309924396, + -1.9769306724601865 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 508.32035069097503, + -410.04328688789064, + -1.9769306724601865 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 506.82035069097503, + -407.44521067653733, + -1.9769306724601865 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 505.32035069097503, + -404.847134465184, + -1.9769306724601865 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 503.82035069097503, + -402.2490582538307, + -1.9769306724601865 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 502.32035069097503, + -399.6509820424774, + -1.9769306724601865 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 502.32035069097503, + -399.6509820424774, + -1.9769306724601865 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 499.7222744796217, + -398.1509820424774, + -1.9769306724601865 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 497.1241982682684, + -396.6509820424774, + -1.9769306724601865 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 495.27006835937505, + -393.85822601318364, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-53-7_78359216/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-53-7_78359216/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..51e2c9a931208fbea7b21a87cdfe2e04047192c1 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-53-7_78359216/pose.jsonl @@ -0,0 +1,274 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 232.31933901513077, + -528.0868374548205, + -9.152932676508806 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 235.31933901513077, + -528.0868374548205, + -9.152932676508806 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 238.31933901513077, + -528.0868374548205, + -9.152932676508806 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 241.31933901513077, + -528.0868374548205, + -9.152932676508806 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 244.31933901513077, + -528.0868374548205, + -9.152932676508806 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 244.31933901513077, + -528.0868374548205, + -9.152932676508806 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 246.91741522648408, + -526.5868374548205, + -9.152932676508806 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 249.5154914378374, + -525.0868374548205, + -9.152932676508806 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 252.1135676491907, + -523.5868374548205, + -9.152932676508806 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 254.71164386054403, + -522.0868374548205, + -9.152932676508806 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 257.30972007189735, + -520.5868374548205, + -9.152932676508806 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 259.90779628325066, + -519.0868374548205, + -9.152932676508806 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 262.505872494604, + -517.5868374548205, + -9.152932676508806 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 265.1039487059573, + -516.0868374548205, + -9.152932676508806 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 267.7020249173106, + -514.5868374548205, + -9.152932676508806 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 270.3001011286639, + -513.0868374548205, + -9.152932676508806 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 272.89817734001724, + -511.5868374548205, + -9.152932676508806 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 275.49625355137056, + -510.0868374548205, + -9.152932676508806 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 278.0943297627239, + -508.5868374548205, + -9.152932676508806 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 280.6924059740772, + -507.0868374548205, + -9.152932676508806 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 283.3368732452393, + -507.865353012085, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-15-23_351450250/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-15-23_351450250/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1df3fa5846f832ada3f044d84931f0228d1218cb --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-15-23_351450250/pose.jsonl @@ -0,0 +1,274 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 539.5903377048388, + -410.96036469685, + -9.933575060894423 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 538.0903377048388, + -408.36228848549666, + -9.933575060894423 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 536.5903377048388, + -405.76421227414335, + -9.933575060894423 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 535.0903377048388, + -403.16613606279003, + -9.933575060894423 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 533.5903377048388, + -400.5680598514367, + -9.933575060894423 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 532.0903377048388, + -397.9699836400834, + -9.933575060894423 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 530.5903377048388, + -395.3719074287301, + -9.933575060894423 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 529.0903377048388, + -392.77383121737677, + -9.933575060894423 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 527.5903377048388, + -390.17575500602345, + -9.933575060894423 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 526.0903377048388, + -387.57767879467013, + -9.933575060894423 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 524.5903377048388, + -384.9796025833168, + -9.933575060894423 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 523.0903377048388, + -382.3815263719635, + -9.933575060894423 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 521.5903377048388, + -379.7834501606102, + -9.933575060894423 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 520.0903377048388, + -377.18537394925687, + -9.933575060894423 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 518.5903377048388, + -374.58729773790355, + -9.933575060894423 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 517.0903377048388, + -371.98922152655024, + -9.933575060894423 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 515.5903377048388, + -369.3911453151969, + -9.933575060894423 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 515.5903377048388, + -369.3911453151969, + -9.933575060894423 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 512.9922614934856, + -367.8911453151969, + -9.933575060894423 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 510.39418528213224, + -366.3911453151969, + -9.933575060894423 + ], + "type": "stop", + "value": 0, + "yaw": 2.617993877991485 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 507.2775932312012, + -365.6789970397949, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-18-49_615419962/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-18-49_615419962/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..058ae0a1095105345a1b758b669d11d5c094f5b1 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-18-49_615419962/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 392.6973308938793, + -467.78604407777266, + -0.9955916980181705 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 395.29540710523264, + -469.28604407777266, + -0.9955916980181705 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 395.29540710523264, + -469.28604407777266, + -0.9955916980181705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 396.79540710523264, + -471.884120289126, + -0.9955916980181705 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 398.29540710523264, + -474.4821965004793, + -0.9955916980181705 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 398.29540710523264, + -474.4821965004793, + -0.9955916980181705 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 400.89348331658596, + -475.9821965004793, + -0.9955916980181705 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 403.4915595279393, + -477.4821965004793, + -0.9955916980181705 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 406.0896357392926, + -478.9821965004793, + -0.9955916980181705 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 408.6877119506459, + -480.4821965004793, + -0.9955916980181705 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 411.2857881619992, + -481.9821965004793, + -0.9955916980181705 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 413.88386437335254, + -483.4821965004793, + -0.9955916980181705 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 416.48194058470585, + -484.9821965004793, + -0.9955916980181705 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 419.08001679605917, + -486.4821965004793, + -0.9955916980181705 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 421.6780930074125, + -487.9821965004793, + -0.9955916980181705 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 424.2761692187658, + -489.4821965004793, + -0.9955916980181705 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 426.8742454301191, + -490.9821965004793, + -0.9955916980181705 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 429.47232164147243, + -492.4821965004793, + -0.9955916980181705 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 432.07039785282575, + -493.9821965004793, + -0.9955916980181705 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 434.66847406417907, + -495.4821965004793, + -0.9955916980181705 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 437.2665502755324, + -496.9821965004793, + -0.9955916980181705 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 439.8646264868857, + -498.4821965004793, + -0.9955916980181705 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 442.462702698239, + -499.9821965004793, + -0.9955916980181705 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 443.92731246948244, + -500.4978652954102, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-20-45_1529695171/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-20-45_1529695171/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c61d1e642bb43376b585555f3968b9a1708272d2 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-20-45_1529695171/pose.jsonl @@ -0,0 +1,274 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 465.6236831596213, + -341.55932665877714, + -3.0555089919625553 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 467.1236831596213, + -344.15740287013045, + -3.0555089919625553 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 468.6236831596213, + -346.75547908148377, + -3.0555089919625553 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 470.1236831596213, + -349.3535552928371, + -3.0555089919625553 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 471.6236831596213, + -351.9516315041904, + -3.0555089919625553 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 473.1236831596213, + -354.5497077155437, + -3.0555089919625553 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 474.6236831596213, + -357.14778392689703, + -3.0555089919625553 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 476.1236831596213, + -359.74586013825035, + -3.0555089919625553 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 477.6236831596213, + -362.34393634960367, + -3.0555089919625553 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 479.1236831596213, + -364.942012560957, + -3.0555089919625553 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 480.6236831596213, + -367.5400887723103, + -3.0555089919625553 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 482.1236831596213, + -370.1381649836636, + -3.0555089919625553 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 483.6236831596213, + -372.73624119501693, + -3.0555089919625553 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 485.1236831596213, + -375.33431740637025, + -3.0555089919625553 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 486.6236831596213, + -377.93239361772356, + -3.0555089919625553 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 488.1236831596213, + -380.5304698290769, + -3.0555089919625553 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 489.6236831596213, + -383.1285460404302, + -3.0555089919625553 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 491.1236831596213, + -385.7266222517835, + -3.0555089919625553 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 492.6236831596213, + -388.3246984631368, + -3.0555089919625553 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 494.1236831596213, + -390.92277467449014, + -3.0555089919625553 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 495.27006835937505, + -393.85822601318364, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-48-35_2063018202/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-48-35_2063018202/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..71bd854d8d226f8132af09b6c0d7383d78c2d0ca --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-48-35_2063018202/pose.jsonl @@ -0,0 +1,287 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1047.1134367966167, + -239.93479367380502, + -0.6075400386306171 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1044.1134367966167, + -239.93479367380502, + -0.6075400386306171 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1041.1134367966167, + -239.93479367380502, + -0.6075400386306171 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1038.1134367966167, + -239.93479367380502, + -0.6075400386306171 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1035.1134367966167, + -239.93479367380502, + -0.6075400386306171 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1032.1134367966167, + -239.93479367380502, + -0.6075400386306171 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1029.1134367966167, + -239.93479367380502, + -0.6075400386306171 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1026.1134367966167, + -239.93479367380502, + -0.6075400386306171 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1023.1134367966167, + -239.93479367380502, + -0.6075400386306171 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1020.1134367966167, + -239.93479367380502, + -0.6075400386306171 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1017.1134367966167, + -239.93479367380502, + -0.6075400386306171 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1014.1134367966167, + -239.93479367380502, + -0.6075400386306171 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1011.1134367966167, + -239.93479367380502, + -0.6075400386306171 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1008.1134367966167, + -239.93479367380502, + -0.6075400386306171 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1005.1134367966167, + -239.93479367380502, + -0.6075400386306171 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1002.1134367966167, + -239.93479367380502, + -0.6075400386306171 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1002.1134367966167, + -239.93479367380502, + -0.6075400386306171 + ], + "type": "turn left", + "value": 30, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1002.1134367966167, + -239.93479367380502, + -0.6075400386306171 + ], + "type": "go straight", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1000.6134367966167, + -242.53286988515833, + -0.6075400386306171 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 999.1134367966167, + -245.13094609651165, + -0.6075400386306171 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 997.6134367966167, + -247.72902230786497, + -0.6075400386306171 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 984.0259399414064, + -252.70955543518068, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-48-5_1123716509/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-48-5_1123716509/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5e21a8505c9825c72245c13f2c573579d7a28c22 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-48-5_1123716509/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -32.64308335793135, + -535.5541773237976, + -4.982574779199947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -31.143083357931353, + -532.9561011124442, + -4.982574779199947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -29.643083357931353, + -530.3580249010909, + -4.982574779199947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -28.143083357931353, + -527.7599486897375, + -4.982574779199947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -26.643083357931353, + -525.1618724783841, + -4.982574779199947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -25.143083357931353, + -522.5637962670307, + -4.982574779199947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -23.643083357931353, + -519.9657200556774, + -4.982574779199947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -22.143083357931353, + -517.367643844324, + -4.982574779199947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -20.643083357931353, + -514.7695676329706, + -4.982574779199947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -19.143083357931353, + -512.1714914216172, + -4.982574779199947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -17.643083357931353, + -509.57341521026393, + -4.982574779199947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -16.143083357931353, + -506.9753389989106, + -4.982574779199947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -14.643083357931353, + -504.3772627875573, + -4.982574779199947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -13.143083357931353, + -501.779186576204, + -4.982574779199947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -11.643083357931353, + -499.18111036485067, + -4.982574779199947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -10.143083357931353, + -496.58303415349735, + -4.982574779199947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -8.643083357931353, + -493.98495794214404, + -4.982574779199947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -7.143083357931353, + -491.3868817307907, + -4.982574779199947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -5.643083357931353, + -488.7888055194374, + -4.982574779199947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -4.143083357931353, + -486.1907293080841, + -4.982574779199947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2.6430833579313524, + -483.59265309673077, + -4.982574779199947 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2.6430833579313524, + -483.59265309673077, + -4.982574779199947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2.6430833579313524, + -480.59265309673077, + -4.982574779199947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2.6430833579313524, + -477.59265309673077, + -4.982574779199947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2.6430833579313524, + -474.59265309673077, + -4.982574779199947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2.6430833579313524, + -471.59265309673077, + -4.982574779199947 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -3.1689678192138673, + -469.5184967041016, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-10-54_231366256/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-10-54_231366256/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8fa72dd22ffc9551fb90c691478e6d3b0677065b --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-10-54_231366256/pose.jsonl @@ -0,0 +1,131 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 881.8975990715463, + -222.44263287323201, + -5.791895448596268 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 883.3975990715463, + -225.04070908458533, + -5.791895448596268 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 884.8975990715463, + -227.63878529593865, + -5.791895448596268 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 886.3975990715463, + -230.23686150729196, + -5.791895448596268 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 887.8975990715463, + -232.83493771864528, + -5.791895448596268 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 889.3975990715463, + -235.4330139299986, + -5.791895448596268 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 889.3975990715463, + -235.4330139299986, + -5.791895448596268 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 891.9956752828996, + -236.9330139299986, + -5.791895448596268 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 894.593751494253, + -238.4330139299986, + -5.791895448596268 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755983084 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 919.2332725524903, + -271.52674827575686, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-25-38_220282619/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-25-38_220282619/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9201bc347d2d6dee3657924863cd97c01bd9d7ba --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-25-38_220282619/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 766.9504367854488, + 34.0072130654428, + -6.8892143353113795 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 765.4504367854488, + 31.409136854089482, + -6.8892143353113795 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 763.9504367854488, + 28.811060642736166, + -6.8892143353113795 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 762.4504367854488, + 26.21298443138285, + -6.8892143353113795 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 760.9504367854488, + 23.614908220029534, + -6.8892143353113795 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 759.4504367854488, + 21.016832008676218, + -6.8892143353113795 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 757.9504367854488, + 18.418755797322902, + -6.8892143353113795 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 756.4504367854488, + 15.820679585969586, + -6.8892143353113795 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 754.9504367854488, + 13.22260337461627, + -6.8892143353113795 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 753.4504367854488, + 10.624527163262954, + -6.8892143353113795 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 751.9504367854488, + 8.026450951909638, + -6.8892143353113795 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 750.4504367854488, + 5.428374740556322, + -6.8892143353113795 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 748.9504367854488, + 2.830298529203006, + -6.8892143353113795 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 747.4504367854488, + 0.23222231784968983, + -6.8892143353113795 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 745.9504367854488, + -2.365853893503626, + -6.8892143353113795 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 744.4504367854488, + -4.963930104856942, + -6.8892143353113795 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 742.9504367854488, + -7.562006316210258, + -6.8892143353113795 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 741.4504367854488, + -10.160082527563574, + -6.8892143353113795 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 741.4504367854488, + -10.160082527563574, + -6.8892143353113795 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 738.8523605740954, + -11.660082527563574, + -6.8892143353113795 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 736.254284362742, + -13.160082527563574, + -6.8892143353113795 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 733.6562081513887, + -14.660082527563574, + -6.8892143353113795 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 731.0581319400353, + -16.160082527563574, + -6.8892143353113795 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 728.4600557286819, + -17.660082527563574, + -6.8892143353113795 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 727.4186401367188, + -18.7204083442688, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-35-10_140830430/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-35-10_140830430/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..833c8bd6473f3c4e0a889d451a2fe5b9af934247 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-35-10_140830430/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -314.42622012688423, + -82.10477174369663, + -8.601556599711481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -311.42622012688423, + -82.10477174369663, + -8.601556599711481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -308.42622012688423, + -82.10477174369663, + -8.601556599711481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -305.42622012688423, + -82.10477174369663, + -8.601556599711481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -302.42622012688423, + -82.10477174369663, + -8.601556599711481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -299.42622012688423, + -82.10477174369663, + -8.601556599711481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -296.42622012688423, + -82.10477174369663, + -8.601556599711481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -293.42622012688423, + -82.10477174369663, + -8.601556599711481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -290.42622012688423, + -82.10477174369663, + -8.601556599711481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -287.42622012688423, + -82.10477174369663, + -8.601556599711481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -284.42622012688423, + -82.10477174369663, + -8.601556599711481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -281.42622012688423, + -82.10477174369663, + -8.601556599711481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -278.42622012688423, + -82.10477174369663, + -8.601556599711481 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -278.42622012688423, + -82.10477174369663, + -8.601556599711481 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -278.42622012688423, + -82.10477174369663, + -8.601556599711481 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -276.92622012688423, + -79.50669553234331, + -8.601556599711481 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -275.42622012688423, + -76.90861932099, + -8.601556599711481 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -275.42622012688423, + -76.90861932099, + -8.601556599711481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -272.8281439155309, + -75.40861932099, + -8.601556599711481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -270.2300677041776, + -73.90861932099, + -8.601556599711481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -267.6319914928243, + -72.40861932099, + -8.601556599711481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -265.03391528147097, + -70.90861932099, + -8.601556599711481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -262.43583907011765, + -69.40861932099, + -8.601556599711481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -259.83776285876434, + -67.90861932099, + -8.601556599711481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -257.239686647411, + -66.40861932099, + -8.601556599711481 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -254.6416104360577, + -64.90861932099, + -8.601556599711481 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -254.59913692474368, + -62.6346962928772, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-35-45_1408564037/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-35-45_1408564037/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ce9c401b1d7f0cb6a0cca187dc3a4ca303d4f6fc --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-35-45_1408564037/pose.jsonl @@ -0,0 +1,274 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -193.24986940422124, + -121.17617215213775, + -5.495851226777062 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -190.24986940422124, + -121.17617215213775, + -5.495851226777062 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -187.24986940422124, + -121.17617215213775, + -5.495851226777062 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -184.24986940422124, + -121.17617215213775, + -5.495851226777062 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -181.24986940422124, + -121.17617215213775, + -5.495851226777062 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -178.24986940422124, + -121.17617215213775, + -5.495851226777062 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -175.24986940422124, + -121.17617215213775, + -5.495851226777062 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -172.24986940422124, + -121.17617215213775, + -5.495851226777062 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -169.24986940422124, + -121.17617215213775, + -5.495851226777062 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -166.24986940422124, + -121.17617215213775, + -5.495851226777062 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -163.24986940422124, + -121.17617215213775, + -5.495851226777062 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -160.24986940422124, + -121.17617215213775, + -5.495851226777062 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -157.24986940422124, + -121.17617215213775, + -5.495851226777062 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -154.24986940422124, + -121.17617215213775, + -5.495851226777062 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -151.24986940422124, + -121.17617215213775, + -5.495851226777062 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -148.24986940422124, + -121.17617215213775, + -5.495851226777062 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -145.24986940422124, + -121.17617215213775, + -5.495851226777062 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -142.24986940422124, + -121.17617215213775, + -5.495851226777062 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -139.24986940422124, + -121.17617215213775, + -5.495851226777062 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -136.24986940422124, + -121.17617215213775, + -5.495851226777062 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -133.47221508026124, + -121.93247375488282, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-42-13_1599184492/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-42-13_1599184492/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9c61d1a9088baaa2f8ac0589a2b819a86b998c75 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-42-13_1599184492/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1440.845075220899, + 62.67194279731789, + -7.786623714377862 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1440.845075220899, + 59.67194279731789, + -7.786623714377862 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1440.845075220899, + 56.67194279731789, + -7.786623714377862 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1440.845075220899, + 53.67194279731789, + -7.786623714377862 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1440.845075220899, + 50.67194279731789, + -7.786623714377862 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1440.845075220899, + 47.67194279731789, + -7.786623714377862 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1440.845075220899, + 44.67194279731789, + -7.786623714377862 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1440.845075220899, + 41.67194279731789, + -7.786623714377862 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1440.845075220899, + 38.67194279731789, + -7.786623714377862 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1440.845075220899, + 35.67194279731789, + -7.786623714377862 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1440.845075220899, + 32.67194279731789, + -7.786623714377862 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1440.845075220899, + 29.67194279731789, + -7.786623714377862 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1440.845075220899, + 26.67194279731789, + -7.786623714377862 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1440.845075220899, + 23.67194279731789, + -7.786623714377862 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1440.845075220899, + 20.67194279731789, + -7.786623714377862 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1440.845075220899, + 17.67194279731789, + -7.786623714377862 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1440.845075220899, + 17.67194279731789, + -7.786623714377862 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1442.345075220899, + 15.073866585964574, + -7.786623714377862 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1443.845075220899, + 12.475790374611258, + -7.786623714377862 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1445.345075220899, + 9.877714163257941, + -7.786623714377862 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1446.845075220899, + 7.2796379519046255, + -7.786623714377862 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1448.345075220899, + 4.6815617405513095, + -7.786623714377862 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1449.845075220899, + 2.0834855291979935, + -7.786623714377862 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1448.3586029052735, + -0.4004184722900391, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-48-10_1059789835/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-48-10_1059789835/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e157aeb8e226acbc7b488a447f6ef8dadceaf8e4 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-48-10_1059789835/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1350.9512231959827, + -98.41955133873502, + -5.286986104919163 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1353.9512231959827, + -98.41955133873502, + -5.286986104919163 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1356.9512231959827, + -98.41955133873502, + -5.286986104919163 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1359.9512231959827, + -98.41955133873502, + -5.286986104919163 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1362.9512231959827, + -98.41955133873502, + -5.286986104919163 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1365.9512231959827, + -98.41955133873502, + -5.286986104919163 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1368.9512231959827, + -98.41955133873502, + -5.286986104919163 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1371.9512231959827, + -98.41955133873502, + -5.286986104919163 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1374.9512231959827, + -98.41955133873502, + -5.286986104919163 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1377.9512231959827, + -98.41955133873502, + -5.286986104919163 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1380.9512231959827, + -98.41955133873502, + -5.286986104919163 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1383.9512231959827, + -98.41955133873502, + -5.286986104919163 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1386.9512231959827, + -98.41955133873502, + -5.286986104919163 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1389.9512231959827, + -98.41955133873502, + -5.286986104919163 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1392.9512231959827, + -98.41955133873502, + -5.286986104919163 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1395.9512231959827, + -98.41955133873502, + -5.286986104919163 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1398.9512231959827, + -98.41955133873502, + -5.286986104919163 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1401.9512231959827, + -98.41955133873502, + -5.286986104919163 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1401.9512231959827, + -98.41955133873502, + -5.286986104919163 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1404.549299407336, + -96.91955133873502, + -5.286986104919163 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1407.1473756186895, + -95.41955133873502, + -5.286986104919163 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1407.1473756186895, + -95.41955133873502, + -5.286986104919163 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1408.6473756186895, + -92.8214751273817, + -5.286986104919163 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1410.1473756186895, + -90.22339891602839, + -5.286986104919163 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1411.6473756186895, + -87.62532270467507, + -5.286986104919163 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1428.624742126465, + -85.18475704193116, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-53-3_1656498187/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-53-3_1656498187/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bee46f83e0d68b0c62f1305812a65d5a61dd57e2 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-53-3_1656498187/pose.jsonl @@ -0,0 +1,378 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 487.2818626962901, + 357.4635992314487, + -5.756662924815114 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 487.2818626962901, + 354.4635992314487, + -5.756662924815114 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 487.2818626962901, + 351.4635992314487, + -5.756662924815114 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 487.2818626962901, + 348.4635992314487, + -5.756662924815114 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 487.2818626962901, + 345.4635992314487, + -5.756662924815114 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 487.2818626962901, + 342.4635992314487, + -5.756662924815114 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 487.2818626962901, + 339.4635992314487, + -5.756662924815114 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 487.2818626962901, + 336.4635992314487, + -5.756662924815114 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 487.2818626962901, + 333.4635992314487, + -5.756662924815114 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 487.2818626962901, + 330.4635992314487, + -5.756662924815114 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 487.2818626962901, + 327.4635992314487, + -5.756662924815114 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 487.2818626962901, + 324.4635992314487, + -5.756662924815114 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 487.2818626962901, + 321.4635992314487, + -5.756662924815114 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 487.2818626962901, + 318.4635992314487, + -5.756662924815114 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 487.2818626962901, + 315.4635992314487, + -5.756662924815114 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 487.2818626962901, + 312.4635992314487, + -5.756662924815114 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 487.2818626962901, + 309.4635992314487, + -5.756662924815114 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 487.2818626962901, + 306.4635992314487, + -5.756662924815114 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 487.2818626962901, + 303.4635992314487, + -5.756662924815114 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 487.2818626962901, + 300.4635992314487, + -5.756662924815114 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 487.2818626962901, + 300.4635992314487, + -5.756662924815114 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 488.7818626962901, + 297.8655230200954, + -5.756662924815114 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 490.2818626962901, + 295.2674468087421, + -5.756662924815114 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 491.7818626962901, + 292.66937059738876, + -5.756662924815114 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 493.2818626962901, + 290.07129438603545, + -5.756662924815114 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 494.7818626962901, + 287.47321817468213, + -5.756662924815114 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 496.2818626962901, + 284.8751419633288, + -5.756662924815114 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 497.7818626962901, + 282.2770657519755, + -5.756662924815114 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 498.19472236633305, + 281.0884632110596, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-59-16_107920488/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-59-16_107920488/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..40bf5efcba88efab683a312c0379384a333b100e --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-59-16_107920488/pose.jsonl @@ -0,0 +1,287 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 290.85622933576633, + -208.4728643261902, + -6.267986930973013 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 292.35622933576633, + -205.8747881148369, + -6.267986930973013 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 293.85622933576633, + -203.27671190348357, + -6.267986930973013 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 295.35622933576633, + -200.67863569213026, + -6.267986930973013 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 296.85622933576633, + -198.08055948077694, + -6.267986930973013 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 298.35622933576633, + -195.48248326942362, + -6.267986930973013 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 299.85622933576633, + -192.8844070580703, + -6.267986930973013 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 301.35622933576633, + -190.286330846717, + -6.267986930973013 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 302.85622933576633, + -187.68825463536368, + -6.267986930973013 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 304.35622933576633, + -185.09017842401036, + -6.267986930973013 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 305.85622933576633, + -182.49210221265704, + -6.267986930973013 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 307.35622933576633, + -179.89402600130373, + -6.267986930973013 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 308.85622933576633, + -177.2959497899504, + -6.267986930973013 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 310.35622933576633, + -174.6978735785971, + -6.267986930973013 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 311.85622933576633, + -172.09979736724378, + -6.267986930973013 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 313.35622933576633, + -169.50172115589046, + -6.267986930973013 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 313.35622933576633, + -169.50172115589046, + -6.267986930973013 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 313.35622933576633, + -166.50172115589046, + -6.267986930973013 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 313.35622933576633, + -163.50172115589046, + -6.267986930973013 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 313.35622933576633, + -160.50172115589046, + -6.267986930973013 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 313.35622933576633, + -157.50172115589046, + -6.267986930973013 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 320.9684103012085, + -137.41820926666261, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-6-42_150084506/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-6-42_150084506/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b03a853b34fe7410f7ce2fe4342059ae39268330 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-6-42_150084506/pose.jsonl @@ -0,0 +1,261 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1162.893156376846, + -143.15354291466855, + -0.7859144582802671 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1161.393156376846, + -145.75161912602186, + -0.7859144582802671 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1159.893156376846, + -148.34969533737518, + -0.7859144582802671 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1158.393156376846, + -150.9477715487285, + -0.7859144582802671 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1156.893156376846, + -153.5458477600818, + -0.7859144582802671 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1155.393156376846, + -156.14392397143513, + -0.7859144582802671 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1153.893156376846, + -158.74200018278844, + -0.7859144582802671 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1152.393156376846, + -161.34007639414176, + -0.7859144582802671 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1150.893156376846, + -163.93815260549508, + -0.7859144582802671 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1149.393156376846, + -166.5362288168484, + -0.7859144582802671 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1147.893156376846, + -169.1343050282017, + -0.7859144582802671 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1146.393156376846, + -171.73238123955502, + -0.7859144582802671 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1144.893156376846, + -174.33045745090834, + -0.7859144582802671 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1143.393156376846, + -176.92853366226166, + -0.7859144582802671 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1141.893156376846, + -179.52660987361497, + -0.7859144582802671 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1141.893156376846, + -179.52660987361497, + -0.7859144582802671 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1141.893156376846, + -182.52660987361497, + -0.7859144582802671 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1141.893156376846, + -185.52660987361497, + -0.7859144582802671 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1141.893156376846, + -188.52660987361497, + -0.7859144582802671 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1136.0676353454592, + -208.6565689086914, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-9-54_331557302/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-9-54_331557302/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ac8ab5280ae2d6bd011b98dc618bb9098329e85b --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-9-54_331557302/pose.jsonl @@ -0,0 +1,222 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1546.0892779177302, + -169.71739826941328, + -5.308749504134445 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1544.5892779177302, + -167.11932205805996, + -5.308749504134445 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1543.0892779177302, + -164.52124584670665, + -5.308749504134445 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1541.5892779177302, + -161.92316963535333, + -5.308749504134445 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1540.0892779177302, + -159.32509342400002, + -5.308749504134445 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1538.5892779177302, + -156.7270172126467, + -5.308749504134445 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1537.0892779177302, + -154.12894100129338, + -5.308749504134445 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1535.5892779177302, + -151.53086478994007, + -5.308749504134445 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1534.0892779177302, + -148.93278857858675, + -5.308749504134445 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1532.5892779177302, + -146.33471236723344, + -5.308749504134445 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1531.0892779177302, + -143.73663615588012, + -5.308749504134445 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1529.5892779177302, + -141.1385599445268, + -5.308749504134445 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1528.0892779177302, + -138.5404837331735, + -5.308749504134445 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1528.0892779177302, + -138.5404837331735, + -5.308749504134445 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1528.0892779177302, + -138.5404837331735, + -5.308749504134445 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1529.5892779177302, + -135.94240752182017, + -5.308749504134445 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965976 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1517.6720581054688, + -108.54975051879883, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-15-51_308424538/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-15-51_308424538/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8f5737925427b5d30f02a2d4966265101b569bcf --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-15-51_308424538/pose.jsonl @@ -0,0 +1,131 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 836.1096366373218, + -29.75992942774602, + -9.584690083758634 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 833.5115604259686, + -28.25992942774602, + -9.584690083758634 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 830.9134842146152, + -26.75992942774602, + -9.584690083758634 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 828.3154080032618, + -25.25992942774602, + -9.584690083758634 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 828.3154080032618, + -25.25992942774602, + -9.584690083758634 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 825.3154080032618, + -25.25992942774602, + -9.584690083758634 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 822.3154080032618, + -25.25992942774602, + -9.584690083758634 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 819.3154080032618, + -25.25992942774602, + -9.584690083758634 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 816.3154080032618, + -25.25992942774602, + -9.584690083758634 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 785.4496536254883, + -18.975487995147706, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-21-46_1930644296/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-21-46_1930644296/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c4681f55ce50ec355f2a4383d5f75452ae5e02b6 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-21-46_1930644296/pose.jsonl @@ -0,0 +1,287 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1381.475716232666, + 204.0368247163966, + -7.987586501373636 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1382.975716232666, + 201.4387485050433, + -7.987586501373636 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1384.475716232666, + 198.84067229368998, + -7.987586501373636 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1385.975716232666, + 196.24259608233666, + -7.987586501373636 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1387.475716232666, + 193.64451987098334, + -7.987586501373636 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1388.975716232666, + 191.04644365963003, + -7.987586501373636 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1390.475716232666, + 188.4483674482767, + -7.987586501373636 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1391.975716232666, + 185.8502912369234, + -7.987586501373636 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1393.475716232666, + 183.25221502557008, + -7.987586501373636 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1394.975716232666, + 180.65413881421676, + -7.987586501373636 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1396.475716232666, + 178.05606260286345, + -7.987586501373636 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1397.975716232666, + 175.45798639151013, + -7.987586501373636 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1399.475716232666, + 172.85991018015682, + -7.987586501373636 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1400.975716232666, + 170.2618339688035, + -7.987586501373636 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1402.475716232666, + 167.66375775745018, + -7.987586501373636 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1403.975716232666, + 165.06568154609687, + -7.987586501373636 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1405.475716232666, + 162.46760533474355, + -7.987586501373636 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1406.975716232666, + 159.86952912339024, + -7.987586501373636 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1408.475716232666, + 157.27145291203692, + -7.987586501373636 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1409.975716232666, + 154.6733767006836, + -7.987586501373636 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1411.475716232666, + 152.0753004893303, + -7.987586501373636 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1412.041893005371, + 150.22052021026613, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-29-9_2042106956/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-29-9_2042106956/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..18477da39a0c1d8f10a4fc895dc9166048443d3b --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-29-9_2042106956/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 141.51446402694478, + -86.61554347945302, + -2.769753711982692 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 138.91638781559146, + -85.11554347945302, + -2.769753711982692 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 136.31831160423815, + -83.61554347945302, + -2.769753711982692 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 133.72023539288483, + -82.11554347945302, + -2.769753711982692 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 131.12215918153152, + -80.61554347945302, + -2.769753711982692 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 128.5240829701782, + -79.11554347945302, + -2.769753711982692 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 125.92600675882488, + -77.61554347945302, + -2.769753711982692 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 123.32793054747157, + -76.11554347945302, + -2.769753711982692 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 120.72985433611825, + -74.61554347945302, + -2.769753711982692 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 118.13177812476494, + -73.11554347945302, + -2.769753711982692 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 115.53370191341162, + -71.61554347945302, + -2.769753711982692 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 112.9356257020583, + -70.11554347945302, + -2.769753711982692 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 110.33754949070499, + -68.61554347945302, + -2.769753711982692 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 107.73947327935167, + -67.11554347945302, + -2.769753711982692 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 105.14139706799835, + -65.61554347945302, + -2.769753711982692 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 102.54332085664504, + -64.11554347945302, + -2.769753711982692 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 99.94524464529172, + -62.615543479453024, + -2.769753711982692 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 97.3471684339384, + -61.115543479453024, + -2.769753711982692 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 94.74909222258509, + -59.615543479453024, + -2.769753711982692 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 92.15101601123177, + -58.115543479453024, + -2.769753711982692 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 89.55293979987846, + -56.615543479453024, + -2.769753711982692 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 89.55293979987846, + -56.615543479453024, + -2.769753711982692 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 86.55293979987846, + -56.615543479453024, + -2.769753711982692 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 83.55293979987846, + -56.615543479453024, + -2.769753711982692 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 80.55293979987846, + -56.615543479453024, + -2.769753711982692 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 77.55293979987846, + -56.615543479453024, + -2.769753711982692 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 74.55293979987846, + -56.615543479453024, + -2.769753711982692 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 70.69211120605469, + -56.732511901855474, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-30-2_1935962074/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-30-2_1935962074/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2434f08a95dc008e4f7099cf938f59fd0ca5c363 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-30-2_1935962074/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 219.60515626525412, + 187.9576640415908, + -5.208279116799506 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 221.10515626525412, + 185.35958783023747, + -5.208279116799506 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 222.60515626525412, + 182.76151161888416, + -5.208279116799506 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 224.10515626525412, + 180.16343540753084, + -5.208279116799506 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 225.60515626525412, + 177.56535919617752, + -5.208279116799506 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 227.10515626525412, + 174.9672829848242, + -5.208279116799506 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 228.60515626525412, + 172.3692067734709, + -5.208279116799506 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 230.10515626525412, + 169.77113056211758, + -5.208279116799506 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 231.60515626525412, + 167.17305435076426, + -5.208279116799506 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 233.10515626525412, + 164.57497813941094, + -5.208279116799506 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 234.60515626525412, + 161.97690192805763, + -5.208279116799506 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 236.10515626525412, + 159.3788257167043, + -5.208279116799506 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 236.10515626525412, + 159.3788257167043, + -5.208279116799506 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 238.70323247660744, + 157.8788257167043, + -5.208279116799506 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 241.30130868796076, + 156.3788257167043, + -5.208279116799506 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 243.89938489931407, + 154.8788257167043, + -5.208279116799506 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 246.4974611106674, + 153.3788257167043, + -5.208279116799506 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 249.0955373220207, + 151.8788257167043, + -5.208279116799506 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 251.69361353337402, + 150.3788257167043, + -5.208279116799506 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 254.29168974472734, + 148.8788257167043, + -5.208279116799506 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 254.29168974472734, + 148.8788257167043, + -5.208279116799506 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 255.79168974472734, + 146.280749505351, + -5.208279116799506 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 257.29168974472736, + 143.68267329399768, + -5.208279116799506 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 258.26647663116455, + 142.7095600128174, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-33-38_1401808472/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-33-38_1401808472/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..21f9be26b98511446a74299a735934076c3f169c --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-33-38_1401808472/pose.jsonl @@ -0,0 +1,209 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 442.0833064807348, + -327.97649834706067, + -9.061624845720742 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 440.5833064807348, + -325.37842213570735, + -9.061624845720742 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 439.0833064807348, + -322.78034592435404, + -9.061624845720742 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 437.5833064807348, + -320.1822697130007, + -9.061624845720742 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 436.0833064807348, + -317.5841935016474, + -9.061624845720742 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 434.5833064807348, + -314.9861172902941, + -9.061624845720742 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 433.0833064807348, + -312.3880410789408, + -9.061624845720742 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 431.5833064807348, + -309.78996486758746, + -9.061624845720742 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 430.0833064807348, + -307.19188865623414, + -9.061624845720742 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 428.5833064807348, + -304.5938124448808, + -9.061624845720742 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 428.5833064807348, + -304.5938124448808, + -9.061624845720742 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 428.5833064807348, + -301.5938124448808, + -9.061624845720742 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 428.5833064807348, + -298.5938124448808, + -9.061624845720742 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 428.5833064807348, + -295.5938124448808, + -9.061624845720742 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 428.5833064807348, + -292.5938124448808, + -9.061624845720742 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 417.240055847168, + -253.0383457183838, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-38-10_1008620975/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-38-10_1008620975/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c1b386dc7362712fedc49211f32b5c47bfe6d568 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-38-10_1008620975/pose.jsonl @@ -0,0 +1,261 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 232.03433453585728, + 92.43272694559842, + -3.774800962821674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 233.53433453585728, + 95.03080315695173, + -3.774800962821674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 235.03433453585728, + 97.62887936830505, + -3.774800962821674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 236.53433453585728, + 100.22695557965837, + -3.774800962821674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 238.03433453585728, + 102.82503179101168, + -3.774800962821674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 239.53433453585728, + 105.423108002365, + -3.774800962821674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 241.03433453585728, + 108.02118421371831, + -3.774800962821674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 242.53433453585728, + 110.61926042507163, + -3.774800962821674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 244.03433453585728, + 113.21733663642495, + -3.774800962821674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 245.53433453585728, + 115.81541284777826, + -3.774800962821674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 247.03433453585728, + 118.41348905913158, + -3.774800962821674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 248.53433453585728, + 121.0115652704849, + -3.774800962821674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 250.03433453585728, + 123.60964148183821, + -3.774800962821674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 251.53433453585728, + 126.20771769319153, + -3.774800962821674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 253.03433453585728, + 128.80579390454483, + -3.774800962821674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965954 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 254.53433453585728, + 131.40387011589814, + -3.774800962821674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 256.0343345358573, + 134.00194632725146, + -3.774800962821674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 257.5343345358573, + 136.60002253860478, + -3.774800962821674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 259.0343345358573, + 139.1980987499581, + -3.774800962821674 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 258.26647663116455, + 142.7095600128174, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-5-56_168488323/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-5-56_168488323/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b802c2b96b7f878178d84e8784cd4eb655df36a7 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-5-56_168488323/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 95.60513323130662, + -37.824721750927736, + -0.7753106507592893 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 93.00705701995331, + -36.324721750927736, + -0.7753106507592893 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 90.40898080859999, + -34.824721750927736, + -0.7753106507592893 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 87.81090459724668, + -33.324721750927736, + -0.7753106507592893 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 85.21282838589336, + -31.824721750927736, + -0.7753106507592893 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 82.61475217454004, + -30.324721750927736, + -0.7753106507592893 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 80.01667596318673, + -28.824721750927736, + -0.7753106507592893 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 77.41859975183341, + -27.324721750927736, + -0.7753106507592893 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 74.8205235404801, + -25.824721750927736, + -0.7753106507592893 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 72.22244732912678, + -24.324721750927736, + -0.7753106507592893 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 69.62437111777346, + -22.824721750927736, + -0.7753106507592893 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 67.02629490642015, + -21.324721750927736, + -0.7753106507592893 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 64.42821869506683, + -19.824721750927736, + -0.7753106507592893 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 61.830142483713516, + -18.324721750927736, + -0.7753106507592893 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 59.2320662723602, + -16.824721750927736, + -0.7753106507592893 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 56.633990061006884, + -15.324721750927736, + -0.7753106507592893 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 54.03591384965357, + -13.824721750927736, + -0.7753106507592893 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 51.43783763830025, + -12.324721750927736, + -0.7753106507592893 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 48.839761426946936, + -10.824721750927736, + -0.7753106507592893 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 46.24168521559362, + -9.324721750927736, + -0.7753106507592893 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 43.643609004240304, + -7.824721750927736, + -0.7753106507592893 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 41.04553279288699, + -6.324721750927736, + -0.7753106507592893 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 38.44745658153367, + -4.824721750927736, + -0.7753106507592893 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 35.849380370180356, + -3.3247217509277363, + -0.7753106507592893 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 33.25130415882704, + -1.8247217509277365, + -0.7753106507592893 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 31.34878616333008, + 1.572951889038086, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-52-33_1325827441/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-52-33_1325827441/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..56c227aadb679c10c545a16945413a18e07cc4dc --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-52-33_1325827441/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -25.20296018748736, + 10.168417902244423, + -5.956820605385935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -22.20296018748736, + 10.168417902244423, + -5.956820605385935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -19.20296018748736, + 10.168417902244423, + -5.956820605385935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -16.20296018748736, + 10.168417902244423, + -5.956820605385935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -13.20296018748736, + 10.168417902244423, + -5.956820605385935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -10.20296018748736, + 10.168417902244423, + -5.956820605385935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -7.20296018748736, + 10.168417902244423, + -5.956820605385935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -4.20296018748736, + 10.168417902244423, + -5.956820605385935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1.2029601874873599, + 10.168417902244423, + -5.956820605385935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1.7970398125126401, + 10.168417902244423, + -5.956820605385935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4.79703981251264, + 10.168417902244423, + -5.956820605385935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 7.79703981251264, + 10.168417902244423, + -5.956820605385935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 10.79703981251264, + 10.168417902244423, + -5.956820605385935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 13.79703981251264, + 10.168417902244423, + -5.956820605385935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 16.79703981251264, + 10.168417902244423, + -5.956820605385935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 19.79703981251264, + 10.168417902244423, + -5.956820605385935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 22.79703981251264, + 10.168417902244423, + -5.956820605385935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 25.79703981251264, + 10.168417902244423, + -5.956820605385935 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 25.79703981251264, + 10.168417902244423, + -5.956820605385935 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 25.79703981251264, + 10.168417902244423, + -5.956820605385935 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 27.29703981251264, + 7.570341690891107, + -5.956820605385935 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 28.79703981251264, + 4.972265479537791, + -5.956820605385935 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 30.29703981251264, + 2.374189268184475, + -5.956820605385935 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 31.34878616333008, + 1.572951889038086, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-54-33_908835090/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-54-33_908835090/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..04049d851899ca2c6f0619a5bc3f5b825ee4732b --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-54-33_908835090/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1531.6565079401776, + -84.30793423149231, + -3.8348975813752295 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1534.6565079401776, + -84.30793423149231, + -3.8348975813752295 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1537.6565079401776, + -84.30793423149231, + -3.8348975813752295 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1540.6565079401776, + -84.30793423149231, + -3.8348975813752295 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1543.6565079401776, + -84.30793423149231, + -3.8348975813752295 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1546.6565079401776, + -84.30793423149231, + -3.8348975813752295 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1549.6565079401776, + -84.30793423149231, + -3.8348975813752295 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1552.6565079401776, + -84.30793423149231, + -3.8348975813752295 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1555.6565079401776, + -84.30793423149231, + -3.8348975813752295 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1558.6565079401776, + -84.30793423149231, + -3.8348975813752295 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1561.6565079401776, + -84.30793423149231, + -3.8348975813752295 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1564.6565079401776, + -84.30793423149231, + -3.8348975813752295 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1567.6565079401776, + -84.30793423149231, + -3.8348975813752295 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1570.6565079401776, + -84.30793423149231, + -3.8348975813752295 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1573.6565079401776, + -84.30793423149231, + -3.8348975813752295 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1573.6565079401776, + -84.30793423149231, + -3.8348975813752295 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1576.254584151531, + -85.80793423149231, + -3.8348975813752295 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1578.8526603628843, + -87.30793423149231, + -3.8348975813752295 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1581.4507365742377, + -88.80793423149231, + -3.8348975813752295 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1584.048812785591, + -90.30793423149231, + -3.8348975813752295 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1586.6468889969444, + -91.80793423149231, + -3.8348975813752295 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1589.2449652082978, + -93.30793423149231, + -3.8348975813752295 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1591.8430414196512, + -94.80793423149231, + -3.8348975813752295 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1594.4411176310045, + -96.30793423149231, + -3.8348975813752295 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1597.039193842358, + -97.80793423149231, + -3.8348975813752295 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1599.6372700537113, + -99.30793423149231, + -3.8348975813752295 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1602.297836303711, + -98.12757396697998, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-11-12_358625421/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-11-12_358625421/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..eddb86621a1ccb576b9f8e8c5517897c731cc520 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-11-12_358625421/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -123.57385642080607, + 75.1393248851474, + -0.06058739323431794 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -120.97578020945275, + 76.6393248851474, + -0.06058739323431794 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -118.37770399809943, + 78.1393248851474, + -0.06058739323431794 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -115.77962778674612, + 79.6393248851474, + -0.06058739323431794 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -113.1815515753928, + 81.1393248851474, + -0.06058739323431794 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -110.58347536403949, + 82.6393248851474, + -0.06058739323431794 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -107.98539915268617, + 84.1393248851474, + -0.06058739323431794 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -105.38732294133285, + 85.6393248851474, + -0.06058739323431794 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -102.78924672997954, + 87.1393248851474, + -0.06058739323431794 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -100.19117051862622, + 88.6393248851474, + -0.06058739323431794 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -97.5930943072729, + 90.1393248851474, + -0.06058739323431794 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -94.99501809591959, + 91.6393248851474, + -0.06058739323431794 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -92.39694188456627, + 93.1393248851474, + -0.06058739323431794 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -89.79886567321296, + 94.6393248851474, + -0.06058739323431794 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -87.20078946185964, + 96.1393248851474, + -0.06058739323431794 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -84.60271325050633, + 97.6393248851474, + -0.06058739323431794 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -82.00463703915301, + 99.1393248851474, + -0.06058739323431794 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -79.4065608277997, + 100.6393248851474, + -0.06058739323431794 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -76.80848461644638, + 102.1393248851474, + -0.06058739323431794 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -74.21040840509306, + 103.6393248851474, + -0.06058739323431794 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -71.61233219373975, + 105.1393248851474, + -0.06058739323431794 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -69.01425598238643, + 106.6393248851474, + -0.06058739323431794 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -66.41617977103311, + 108.1393248851474, + -0.06058739323431794 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -66.41617977103311, + 108.1393248851474, + -0.06058739323431794 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -64.91617977103311, + 110.73740109650072, + -0.06058739323431794 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -63.416179771033114, + 113.33547730785403, + -0.06058739323431794 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -61.916179771033114, + 115.93355351920735, + -0.06058739323431794 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -58.67859439849854, + 118.20751323699952, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-16-37_747040077/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-16-37_747040077/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fd76f7910829630e4b1991984d361bdcec1f1161 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-16-37_747040077/pose.jsonl @@ -0,0 +1,79 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1069.275423290195, + -282.36766193619394, + -6.009718142706227 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1067.775423290195, + -279.7695857248406, + -6.009718142706227 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1066.275423290195, + -277.1715095134873, + -6.009718142706227 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1064.775423290195, + -274.573433302134, + -6.009718142706227 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1063.275423290195, + -271.9753570907807, + -6.009718142706227 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1031.390993499756, + -240.8672115325928, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-25-54_1933366332/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-25-54_1933366332/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6d95e11d721b7660c802af52d6deccff1070a161 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-25-54_1933366332/pose.jsonl @@ -0,0 +1,391 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -51.27403524588854, + -94.31735667967628, + -3.135875090686941 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -48.27403524588854, + -94.31735667967628, + -3.135875090686941 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -45.27403524588854, + -94.31735667967628, + -3.135875090686941 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -42.27403524588854, + -94.31735667967628, + -3.135875090686941 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -39.27403524588854, + -94.31735667967628, + -3.135875090686941 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -36.27403524588854, + -94.31735667967628, + -3.135875090686941 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -33.27403524588854, + -94.31735667967628, + -3.135875090686941 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -30.27403524588854, + -94.31735667967628, + -3.135875090686941 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -27.27403524588854, + -94.31735667967628, + -3.135875090686941 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -24.27403524588854, + -94.31735667967628, + -3.135875090686941 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -21.27403524588854, + -94.31735667967628, + -3.135875090686941 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -18.27403524588854, + -94.31735667967628, + -3.135875090686941 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -15.274035245888541, + -94.31735667967628, + -3.135875090686941 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -12.274035245888541, + -94.31735667967628, + -3.135875090686941 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -9.274035245888541, + -94.31735667967628, + -3.135875090686941 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -6.274035245888541, + -94.31735667967628, + -3.135875090686941 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -3.274035245888541, + -94.31735667967628, + -3.135875090686941 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -0.2740352458885411, + -94.31735667967628, + -3.135875090686941 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 2.725964754111459, + -94.31735667967628, + -3.135875090686941 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 2.725964754111459, + -94.31735667967628, + -3.135875090686941 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 2.725964754111459, + -94.31735667967628, + -3.135875090686941 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 4.225964754111459, + -91.71928046832296, + -3.135875090686941 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 5.725964754111459, + -89.12120425696965, + -3.135875090686941 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 7.225964754111459, + -86.52312804561633, + -3.135875090686941 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 8.725964754111459, + -83.92505183426302, + -3.135875090686941 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 10.225964754111459, + -81.3269756229097, + -3.135875090686941 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 11.725964754111459, + -78.72889941155638, + -3.135875090686941 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 13.225964754111459, + -76.13082320020307, + -3.135875090686941 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 14.725964754111459, + -73.53274698884975, + -3.135875090686941 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 17.12450046539307, + -73.06071357727052, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-34-59_73070847/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-34-59_73070847/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..431dffffa47dcb3239263324771a075a027ab90e --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-34-59_73070847/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1340.3990381386725, + 300.5830903056757, + -7.266739228841535 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1338.8990381386725, + 297.98501409432237, + -7.266739228841535 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1337.3990381386725, + 295.38693788296905, + -7.266739228841535 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1335.8990381386725, + 292.78886167161573, + -7.266739228841535 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1334.3990381386725, + 290.1907854602624, + -7.266739228841535 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1332.8990381386725, + 287.5927092489091, + -7.266739228841535 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1331.3990381386725, + 284.9946330375558, + -7.266739228841535 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1329.8990381386725, + 282.39655682620247, + -7.266739228841535 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1328.3990381386725, + 279.79848061484915, + -7.266739228841535 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1326.8990381386725, + 277.20040440349584, + -7.266739228841535 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1325.3990381386725, + 274.6023281921425, + -7.266739228841535 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1323.8990381386725, + 272.0042519807892, + -7.266739228841535 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1322.3990381386725, + 269.4061757694359, + -7.266739228841535 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1320.8990381386725, + 266.8080995580826, + -7.266739228841535 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1319.3990381386725, + 264.21002334672926, + -7.266739228841535 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1317.8990381386725, + 261.61194713537594, + -7.266739228841535 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1316.3990381386725, + 259.0138709240226, + -7.266739228841535 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1314.8990381386725, + 256.4157947126693, + -7.266739228841535 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1313.3990381386725, + 253.817718501316, + -7.266739228841535 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1313.3990381386725, + 253.817718501316, + -7.266739228841535 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1310.8009619273191, + 252.317718501316, + -7.266739228841535 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1308.2028857159657, + 250.817718501316, + -7.266739228841535 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1305.6048095046124, + 249.317718501316, + -7.266739228841535 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1303.006733293259, + 247.817718501316, + -7.266739228841535 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1300.4086570819056, + 246.317718501316, + -7.266739228841535 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1297.8105808705523, + 244.817718501316, + -7.266739228841535 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1295.2125046591989, + 243.317718501316, + -7.266739228841535 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1292.3825042724611, + 243.1778787612915, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-41-9_1606600117/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-41-9_1606600117/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..954e8bfc7c4d5ff132de9aa39f7adc44be9a6ea2 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-41-9_1606600117/pose.jsonl @@ -0,0 +1,235 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1339.9226140879036, + -17.298883314992253, + -5.863382404582868 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1341.4226140879036, + -19.89695952634557, + -5.863382404582868 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1342.9226140879036, + -22.495035737698885, + -5.863382404582868 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1344.4226140879036, + -25.0931119490522, + -5.863382404582868 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1345.9226140879036, + -27.691188160405517, + -5.863382404582868 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1347.4226140879036, + -30.289264371758833, + -5.863382404582868 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1348.9226140879036, + -32.88734058311215, + -5.863382404582868 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1350.4226140879036, + -35.485416794465465, + -5.863382404582868 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1351.9226140879036, + -38.08349300581878, + -5.863382404582868 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1353.4226140879036, + -40.6815692171721, + -5.863382404582868 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1354.9226140879036, + -43.27964542852541, + -5.863382404582868 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1356.4226140879036, + -45.87772163987873, + -5.863382404582868 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1357.9226140879036, + -48.475797851232045, + -5.863382404582868 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1359.4226140879036, + -51.07387406258536, + -5.863382404582868 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1359.4226140879036, + -51.07387406258536, + -5.863382404582868 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1362.020690299257, + -52.57387406258536, + -5.863382404582868 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1364.6187665106104, + -54.07387406258536, + -5.863382404582868 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1381.41708984375, + -76.18637247085572, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-5-16_806176022/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-5-16_806176022/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..39bc9326a19d757ee22399f61fd1f66e62401237 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-5-16_806176022/pose.jsonl @@ -0,0 +1,287 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 538.9759486147789, + 14.67897490173516, + -4.322014495662142 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 541.9759486147789, + 14.67897490173516, + -4.322014495662142 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 544.9759486147789, + 14.67897490173516, + -4.322014495662142 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 547.9759486147789, + 14.67897490173516, + -4.322014495662142 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 550.9759486147789, + 14.67897490173516, + -4.322014495662142 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 553.9759486147789, + 14.67897490173516, + -4.322014495662142 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 556.9759486147789, + 14.67897490173516, + -4.322014495662142 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 559.9759486147789, + 14.67897490173516, + -4.322014495662142 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 562.9759486147789, + 14.67897490173516, + -4.322014495662142 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 565.9759486147789, + 14.67897490173516, + -4.322014495662142 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 568.9759486147789, + 14.67897490173516, + -4.322014495662142 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 571.9759486147789, + 14.67897490173516, + -4.322014495662142 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 571.9759486147789, + 14.67897490173516, + -4.322014495662142 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 571.9759486147789, + 14.67897490173516, + -4.322014495662142 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 573.4759486147789, + 17.277051113088476, + -4.322014495662142 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 574.9759486147789, + 19.87512732444179, + -4.322014495662142 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 576.4759486147789, + 22.473203535795108, + -4.322014495662142 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 577.9759486147789, + 25.071279747148424, + -4.322014495662142 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 579.4759486147789, + 27.66935595850174, + -4.322014495662142 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 580.9759486147789, + 30.267432169855056, + -4.322014495662142 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 582.4759486147789, + 32.86550838120837, + -4.322014495662142 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 611.1197254180909, + 43.554152965545654, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-50-44_40317565/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-50-44_40317565/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..394cee1f8f0801f3854d1efc9646e7570ac33bab --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-50-44_40317565/pose.jsonl @@ -0,0 +1,196 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 675.8317255778816, + -120.12713733425872, + -7.639691709065274 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 675.8317255778816, + -117.12713733425872, + -7.639691709065274 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 675.8317255778816, + -114.12713733425872, + -7.639691709065274 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 675.8317255778816, + -111.12713733425872, + -7.639691709065274 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 675.8317255778816, + -108.12713733425872, + -7.639691709065274 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 675.8317255778816, + -105.12713733425872, + -7.639691709065274 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 675.8317255778816, + -102.12713733425872, + -7.639691709065274 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 675.8317255778816, + -99.12713733425872, + -7.639691709065274 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 675.8317255778816, + -96.12713733425872, + -7.639691709065274 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 675.8317255778816, + -93.12713733425872, + -7.639691709065274 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 675.8317255778816, + -90.12713733425872, + -7.639691709065274 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 675.8317255778816, + -90.12713733425872, + -7.639691709065274 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 674.3317255778816, + -87.5290611229054, + -7.639691709065274 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 672.8317255778816, + -84.93098491155209, + -7.639691709065274 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 668.9317680358887, + -69.13963012695314, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-54-35_141540322/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-54-35_141540322/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bfc1f8a9efbe2e26f422a8f00e3254f82010e0a7 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-54-35_141540322/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -109.07734503317647, + -353.91890892887693, + -7.689443666175002 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -106.07734503317647, + -353.91890892887693, + -7.689443666175002 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -103.07734503317647, + -353.91890892887693, + -7.689443666175002 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -100.07734503317647, + -353.91890892887693, + -7.689443666175002 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -97.07734503317647, + -353.91890892887693, + -7.689443666175002 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -94.07734503317647, + -353.91890892887693, + -7.689443666175002 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -91.07734503317647, + -353.91890892887693, + -7.689443666175002 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -88.07734503317647, + -353.91890892887693, + -7.689443666175002 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -85.07734503317647, + -353.91890892887693, + -7.689443666175002 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -82.07734503317647, + -353.91890892887693, + -7.689443666175002 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -79.07734503317647, + -353.91890892887693, + -7.689443666175002 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -76.07734503317647, + -353.91890892887693, + -7.689443666175002 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -73.07734503317647, + -353.91890892887693, + -7.689443666175002 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -70.07734503317647, + -353.91890892887693, + -7.689443666175002 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -67.07734503317647, + -353.91890892887693, + -7.689443666175002 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -64.07734503317647, + -353.91890892887693, + -7.689443666175002 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -61.07734503317647, + -353.91890892887693, + -7.689443666175002 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -58.07734503317647, + -353.91890892887693, + -7.689443666175002 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -55.07734503317647, + -353.91890892887693, + -7.689443666175002 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -52.07734503317647, + -353.91890892887693, + -7.689443666175002 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -49.07734503317647, + -353.91890892887693, + -7.689443666175002 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -46.07734503317647, + -353.91890892887693, + -7.689443666175002 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -46.07734503317647, + -353.91890892887693, + -7.689443666175002 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -43.479268821823155, + -355.41890892887693, + -7.689443666175002 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -40.88119261046984, + -356.91890892887693, + -7.689443666175002 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -38.28311639911652, + -358.41890892887693, + -7.689443666175002 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -37.04707775115967, + -360.1783214569092, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-57-0_1218458780/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-57-0_1218458780/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ed13df308c117e7447a5d77cc6bb671edcbd9bc3 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-57-0_1218458780/pose.jsonl @@ -0,0 +1,417 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 294.8986943125024, + -303.5192081231772, + -9.601254784972154 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 297.8986943125024, + -303.5192081231772, + -9.601254784972154 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 300.8986943125024, + -303.5192081231772, + -9.601254784972154 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 303.8986943125024, + -303.5192081231772, + -9.601254784972154 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 306.8986943125024, + -303.5192081231772, + -9.601254784972154 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 309.8986943125024, + -303.5192081231772, + -9.601254784972154 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 312.8986943125024, + -303.5192081231772, + -9.601254784972154 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 315.8986943125024, + -303.5192081231772, + -9.601254784972154 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 318.8986943125024, + -303.5192081231772, + -9.601254784972154 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 321.8986943125024, + -303.5192081231772, + -9.601254784972154 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 324.8986943125024, + -303.5192081231772, + -9.601254784972154 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 327.8986943125024, + -303.5192081231772, + -9.601254784972154 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 330.8986943125024, + -303.5192081231772, + -9.601254784972154 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 333.8986943125024, + -303.5192081231772, + -9.601254784972154 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 336.8986943125024, + -303.5192081231772, + -9.601254784972154 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 336.8986943125024, + -303.5192081231772, + -9.601254784972154 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 336.8986943125024, + -303.5192081231772, + -9.601254784972154 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 338.3986943125024, + -300.92113191182386, + -9.601254784972154 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 339.8986943125024, + -298.32305570047055, + -9.601254784972154 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 341.3986943125024, + -295.72497948911723, + -9.601254784972154 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 342.8986943125024, + -293.1269032777639, + -9.601254784972154 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 344.3986943125024, + -290.5288270664106, + -9.601254784972154 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 344.3986943125024, + -290.5288270664106, + -9.601254784972154 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 346.99677052385573, + -289.0288270664106, + -9.601254784972154 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 349.59484673520905, + -287.5288270664106, + -9.601254784972154 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 352.19292294656236, + -286.0288270664106, + -9.601254784972154 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 354.7909991579157, + -284.5288270664106, + -9.601254784972154 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 357.389075369269, + -283.0288270664106, + -9.601254784972154 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 359.9871515806223, + -281.5288270664106, + -9.601254784972154 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 362.5852277919756, + -280.0288270664106, + -9.601254784972154 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 365.18330400332894, + -278.5288270664106, + -9.601254784972154 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 368.39450302124027, + -279.85243492126466, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-6-48_507906577/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-6-48_507906577/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..aaf988db6de4c76ae8240c944120a1bcee0a0874 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-6-48_507906577/pose.jsonl @@ -0,0 +1,261 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -6.43416138520368, + -121.31399843384717, + -2.9174616174371106 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -4.93416138520368, + -118.71592222249386, + -2.9174616174371106 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -3.4341613852036796, + -116.11784601114054, + -2.9174616174371106 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1.9341613852036792, + -113.51976979978723, + -2.9174616174371106 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -0.43416138520367875, + -110.92169358843391, + -2.9174616174371106 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1.0658386147963217, + -108.3236173770806, + -2.9174616174371106 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2.565838614796322, + -105.72554116572728, + -2.9174616174371106 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4.065838614796323, + -103.12746495437396, + -2.9174616174371106 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 5.5658386147963235, + -100.52938874302065, + -2.9174616174371106 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965974 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 7.0658386147963235, + -97.93131253166733, + -2.9174616174371106 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 8.565838614796323, + -95.33323632031401, + -2.9174616174371106 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 10.065838614796323, + -92.7351601089607, + -2.9174616174371106 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 11.565838614796323, + -90.13708389760738, + -2.9174616174371106 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 13.065838614796323, + -87.53900768625407, + -2.9174616174371106 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 14.565838614796323, + -84.94093147490075, + -2.9174616174371106 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 16.065838614796323, + -82.34285526354743, + -2.9174616174371106 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 16.065838614796323, + -82.34285526354743, + -2.9174616174371106 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 16.065838614796323, + -79.34285526354743, + -2.9174616174371106 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 16.065838614796323, + -76.34285526354743, + -2.9174616174371106 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 17.12450046539307, + -73.06071357727052, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-0-5_391091185/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-0-5_391091185/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6d53ce7c4eb929dee27a1bfc8f69dd34d08bf541 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-0-5_391091185/pose.jsonl @@ -0,0 +1,378 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -161.94386912730707, + -469.1517011803898, + -1.0888553452890921 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -160.44386912730707, + -466.5536249690365, + -1.0888553452890921 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -158.94386912730707, + -463.9555487576832, + -1.0888553452890921 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -157.44386912730707, + -461.35747254632986, + -1.0888553452890921 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -155.94386912730707, + -458.75939633497654, + -1.0888553452890921 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -154.44386912730707, + -456.1613201236232, + -1.0888553452890921 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -152.94386912730707, + -453.5632439122699, + -1.0888553452890921 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -151.44386912730707, + -450.9651677009166, + -1.0888553452890921 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -149.94386912730707, + -448.3670914895633, + -1.0888553452890921 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -148.44386912730707, + -445.76901527820996, + -1.0888553452890921 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -146.94386912730707, + -443.17093906685665, + -1.0888553452890921 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -145.44386912730707, + -440.57286285550333, + -1.0888553452890921 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -143.94386912730707, + -437.97478664415, + -1.0888553452890921 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -142.44386912730707, + -435.3767104327967, + -1.0888553452890921 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -140.94386912730707, + -432.7786342214434, + -1.0888553452890921 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -139.44386912730707, + -430.18055801009007, + -1.0888553452890921 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -137.94386912730707, + -427.58248179873675, + -1.0888553452890921 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -136.44386912730707, + -424.98440558738343, + -1.0888553452890921 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -134.94386912730707, + -422.3863293760301, + -1.0888553452890921 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -133.44386912730707, + -419.7882531646768, + -1.0888553452890921 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -131.94386912730707, + -417.1901769533235, + -1.0888553452890921 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -130.44386912730707, + -414.59210074197017, + -1.0888553452890921 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -130.44386912730707, + -414.59210074197017, + -1.0888553452890921 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -130.44386912730707, + -411.59210074197017, + -1.0888553452890921 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -130.44386912730707, + -408.59210074197017, + -1.0888553452890921 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -130.44386912730707, + -405.59210074197017, + -1.0888553452890921 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -130.44386912730707, + -402.59210074197017, + -1.0888553452890921 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -130.44386912730707, + -399.59210074197017, + -1.0888553452890921 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -129.16454372406008, + -397.39995117187505, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-12-0_1609372147/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-12-0_1609372147/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5743cfd40ac3b1ec40284fc25ea2a2519348a364 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-12-0_1609372147/pose.jsonl @@ -0,0 +1,235 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 545.4015314087934, + -259.0484208214165, + -8.405536273937969 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 542.8034551974401, + -257.5484208214165, + -8.405536273937969 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 540.2053789860868, + -256.0484208214165, + -8.405536273937969 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 537.6073027747334, + -254.54842082141653, + -8.405536273937969 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 535.00922656338, + -253.04842082141653, + -8.405536273937969 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 532.4111503520267, + -251.54842082141653, + -8.405536273937969 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 529.8130741406733, + -250.04842082141653, + -8.405536273937969 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 527.2149979293199, + -248.54842082141653, + -8.405536273937969 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 524.6169217179665, + -247.04842082141653, + -8.405536273937969 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 522.0188455066132, + -245.54842082141653, + -8.405536273937969 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 519.4207692952598, + -244.04842082141653, + -8.405536273937969 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 516.8226930839064, + -242.54842082141653, + -8.405536273937969 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 514.224616872553, + -241.04842082141653, + -8.405536273937969 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 514.224616872553, + -241.04842082141653, + -8.405536273937969 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 511.22461687255304, + -241.04842082141653, + -8.405536273937969 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 508.22461687255304, + -241.04842082141653, + -8.405536273937969 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 505.22461687255304, + -241.04842082141653, + -8.405536273937969 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 485.3397609710694, + -231.23137340545657, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-13-19_1680476021/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-13-19_1680476021/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ac4b4db9609d56d9ca13e36a94a3940a5775bf68 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-13-19_1680476021/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -312.01877334761787, + -3.009049606269656, + -9.930128484402966 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -310.51877334761787, + -0.4109733949163399, + -9.930128484402966 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -309.01877334761787, + 2.187102816436976, + -9.930128484402966 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -307.51877334761787, + 4.785179027790292, + -9.930128484402966 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -306.01877334761787, + 7.383255239143608, + -9.930128484402966 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -304.51877334761787, + 9.981331450496924, + -9.930128484402966 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -303.01877334761787, + 12.57940766185024, + -9.930128484402966 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -301.51877334761787, + 15.177483873203556, + -9.930128484402966 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -300.01877334761787, + 17.775560084556872, + -9.930128484402966 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -298.51877334761787, + 20.373636295910188, + -9.930128484402966 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -298.51877334761787, + 20.373636295910188, + -9.930128484402966 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -295.92069713626455, + 21.873636295910188, + -9.930128484402966 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -293.32262092491123, + 23.373636295910188, + -9.930128484402966 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -290.7245447135579, + 24.873636295910188, + -9.930128484402966 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -288.1264685022046, + 26.373636295910188, + -9.930128484402966 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -285.5283922908513, + 27.873636295910188, + -9.930128484402966 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -282.93031607949797, + 29.373636295910188, + -9.930128484402966 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -280.33223986814465, + 30.873636295910188, + -9.930128484402966 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -277.73416365679134, + 32.37363629591019, + -9.930128484402966 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -275.136087445438, + 33.87363629591019, + -9.930128484402966 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -272.5380112340847, + 35.37363629591019, + -9.930128484402966 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -269.9399350227314, + 36.87363629591019, + -9.930128484402966 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -267.3418588113781, + 38.37363629591019, + -9.930128484402966 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -264.74378260002476, + 39.87363629591019, + -9.930128484402966 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -262.14570638867144, + 41.37363629591019, + -9.930128484402966 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -259.5476301773181, + 42.87363629591019, + -9.930128484402966 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -259.2387418746948, + 45.236197376251226, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-15-24_1423887803/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-15-24_1423887803/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9b31c56650642f9fac03a65ce22e15294603f96a --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-15-24_1423887803/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -28.414001754639713, + -682.0068333493489, + -5.723838734997686 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -29.914001754639713, + -679.4087571379955, + -5.723838734997686 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -31.414001754639713, + -676.8106809266421, + -5.723838734997686 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -32.91400175463971, + -674.2126047152888, + -5.723838734997686 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -34.41400175463971, + -671.6145285039354, + -5.723838734997686 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -35.91400175463971, + -669.016452292582, + -5.723838734997686 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -37.41400175463971, + -666.4183760812286, + -5.723838734997686 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -38.91400175463971, + -663.8202998698753, + -5.723838734997686 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -40.41400175463971, + -661.2222236585219, + -5.723838734997686 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -41.91400175463971, + -658.6241474471685, + -5.723838734997686 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -43.41400175463971, + -656.0260712358152, + -5.723838734997686 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -44.91400175463971, + -653.4279950244618, + -5.723838734997686 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -46.41400175463971, + -650.8299188131084, + -5.723838734997686 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -47.91400175463971, + -648.231842601755, + -5.723838734997686 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -49.41400175463971, + -645.6337663904017, + -5.723838734997686 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -50.91400175463971, + -643.0356901790483, + -5.723838734997686 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -52.41400175463971, + -640.4376139676949, + -5.723838734997686 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -52.41400175463971, + -640.4376139676949, + -5.723838734997686 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -52.41400175463971, + -637.4376139676949, + -5.723838734997686 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -52.41400175463971, + -634.4376139676949, + -5.723838734997686 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -52.41400175463971, + -631.4376139676949, + -5.723838734997686 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -52.41400175463971, + -628.4376139676949, + -5.723838734997686 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -52.41400175463971, + -625.4376139676949, + -5.723838734997686 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -52.41400175463971, + -622.4376139676949, + -5.723838734997686 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -52.41400175463971, + -619.4376139676949, + -5.723838734997686 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -52.41400175463971, + -616.4376139676949, + -5.723838734997686 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -52.7497802734375, + -613.6590488433839, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-18-22_1771358132/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-18-22_1771358132/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..79916cac0c7f3ac275c97395cd0f323ed8b1f1a5 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-18-22_1771358132/pose.jsonl @@ -0,0 +1,92 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 692.153306457238, + -6.899394311659854, + -5.741419613376333 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 690.653306457238, + -9.49747052301317, + -5.741419613376333 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 689.153306457238, + -12.095546734366486, + -5.741419613376333 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 687.653306457238, + -14.693622945719802, + -5.741419613376333 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 687.653306457238, + -14.693622945719802, + -5.741419613376333 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 687.653306457238, + -17.693622945719802, + -5.741419613376333 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 668.9317680358887, + -69.13963012695314, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-25-20_1521322667/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-25-20_1521322667/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..51388542004d9d802f24910715c341b3baa96053 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-25-20_1521322667/pose.jsonl @@ -0,0 +1,274 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1302.025571429634, + 243.62575608382153, + -3.134881175472893 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1299.025571429634, + 243.62575608382153, + -3.134881175472893 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1296.025571429634, + 243.62575608382153, + -3.134881175472893 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1293.025571429634, + 243.62575608382153, + -3.134881175472893 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1290.025571429634, + 243.62575608382153, + -3.134881175472893 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1287.025571429634, + 243.62575608382153, + -3.134881175472893 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1284.025571429634, + 243.62575608382153, + -3.134881175472893 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1281.025571429634, + 243.62575608382153, + -3.134881175472893 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1278.025571429634, + 243.62575608382153, + -3.134881175472893 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1275.025571429634, + 243.62575608382153, + -3.134881175472893 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1272.025571429634, + 243.62575608382153, + -3.134881175472893 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1269.025571429634, + 243.62575608382153, + -3.134881175472893 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1266.025571429634, + 243.62575608382153, + -3.134881175472893 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1263.025571429634, + 243.62575608382153, + -3.134881175472893 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1260.025571429634, + 243.62575608382153, + -3.134881175472893 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1257.025571429634, + 243.62575608382153, + -3.134881175472893 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1254.025571429634, + 243.62575608382153, + -3.134881175472893 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1251.025571429634, + 243.62575608382153, + -3.134881175472893 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1248.025571429634, + 243.62575608382153, + -3.134881175472893 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1245.025571429634, + 243.62575608382153, + -3.134881175472893 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1243.735294342041, + 241.00056648254397, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-27-36_120738486/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-27-36_120738486/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a8ba1d8d7e14561ef9ff508e57cf63923ddafb15 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-27-36_120738486/pose.jsonl @@ -0,0 +1,53 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 616.136919050039, + -92.80751780598939, + -7.83490563277815 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 619.136919050039, + -92.80751780598939, + -7.83490563277815 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 622.136919050039, + -92.80751780598939, + -7.83490563277815 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 668.9317680358887, + -69.13963012695314, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-36-14_736077591/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-36-14_736077591/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bf63eae3b41d86687cf9865bc059d8bb4acdfcf3 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-36-14_736077591/pose.jsonl @@ -0,0 +1,170 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 466.83047340360594, + -359.028342639004, + -6.654580394055268 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 466.83047340360594, + -356.028342639004, + -6.654580394055268 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 466.83047340360594, + -353.028342639004, + -6.654580394055268 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 466.83047340360594, + -350.028342639004, + -6.654580394055268 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 466.83047340360594, + -347.028342639004, + -6.654580394055268 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 466.83047340360594, + -344.028342639004, + -6.654580394055268 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 466.83047340360594, + -341.028342639004, + -6.654580394055268 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 466.83047340360594, + -338.028342639004, + -6.654580394055268 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 466.83047340360594, + -335.028342639004, + -6.654580394055268 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 466.83047340360594, + -332.028342639004, + -6.654580394055268 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 466.83047340360594, + -329.028342639004, + -6.654580394055268 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 466.83047340360594, + -326.028342639004, + -6.654580394055268 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 464.3743118286133, + -298.84694976806645, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-41-36_189059476/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-41-36_189059476/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0942444cb8bffde14ed4bdb87ff61969eebc8b9c --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-41-36_189059476/pose.jsonl @@ -0,0 +1,287 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1410.6594812892772, + -240.1054956964924, + -8.50210773859753 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1412.1594812892772, + -237.50741948513908, + -8.50210773859753 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1413.6594812892772, + -234.90934327378577, + -8.50210773859753 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1415.1594812892772, + -232.31126706243245, + -8.50210773859753 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1416.6594812892772, + -229.71319085107913, + -8.50210773859753 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1418.1594812892772, + -227.11511463972582, + -8.50210773859753 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1419.6594812892772, + -224.5170384283725, + -8.50210773859753 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1421.1594812892772, + -221.91896221701919, + -8.50210773859753 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1422.6594812892772, + -219.32088600566587, + -8.50210773859753 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1424.1594812892772, + -216.72280979431255, + -8.50210773859753 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1425.6594812892772, + -214.12473358295924, + -8.50210773859753 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1427.1594812892772, + -211.52665737160592, + -8.50210773859753 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1428.6594812892772, + -208.9285811602526, + -8.50210773859753 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1430.1594812892772, + -206.3305049488993, + -8.50210773859753 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1431.6594812892772, + -203.73242873754597, + -8.50210773859753 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1433.1594812892772, + -201.13435252619266, + -8.50210773859753 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1434.6594812892772, + -198.53627631483934, + -8.50210773859753 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1436.1594812892772, + -195.93820010348603, + -8.50210773859753 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1437.6594812892772, + -193.3401238921327, + -8.50210773859753 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1437.6594812892772, + -193.3401238921327, + -8.50210773859753 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1437.6594812892772, + -190.3401238921327, + -8.50210773859753 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1437.3104949951173, + -187.02000331878662, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-43-14_1833639403/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-43-14_1833639403/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4e7bb32771ed14b05ff096244df3d634b4ab3f31 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-43-14_1833639403/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 463.33692289292776, + 161.58768011304758, + -7.479622820955853 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 461.83692289292776, + 164.1857563244009, + -7.479622820955853 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 460.33692289292776, + 166.78383253575421, + -7.479622820955853 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 458.83692289292776, + 169.38190874710753, + -7.479622820955853 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 457.33692289292776, + 171.97998495846085, + -7.479622820955853 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 455.83692289292776, + 174.57806116981416, + -7.479622820955853 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 454.33692289292776, + 177.17613738116748, + -7.479622820955853 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 452.83692289292776, + 179.7742135925208, + -7.479622820955853 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 451.33692289292776, + 182.3722898038741, + -7.479622820955853 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 449.83692289292776, + 184.97036601522743, + -7.479622820955853 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 448.33692289292776, + 187.56844222658074, + -7.479622820955853 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 446.83692289292776, + 190.16651843793406, + -7.479622820955853 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 445.33692289292776, + 192.76459464928737, + -7.479622820955853 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 443.83692289292776, + 195.3626708606407, + -7.479622820955853 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 442.33692289292776, + 197.960747071994, + -7.479622820955853 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 440.83692289292776, + 200.55882328334732, + -7.479622820955853 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 439.33692289292776, + 203.15689949470064, + -7.479622820955853 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 437.83692289292776, + 205.75497570605395, + -7.479622820955853 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 437.83692289292776, + 205.75497570605395, + -7.479622820955853 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 435.23884668157444, + 207.25497570605395, + -7.479622820955853 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 432.6407704702211, + 208.75497570605395, + -7.479622820955853 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 430.0426942588678, + 210.25497570605395, + -7.479622820955853 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 427.4446180475145, + 211.75497570605395, + -7.479622820955853 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 424.8465418361612, + 213.25497570605395, + -7.479622820955853 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 423.96591529846194, + 214.72956275939944, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-53-58_682974831/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-53-58_682974831/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c63c401787c693bcbef10455e17140ecbf265da1 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-53-58_682974831/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 111.00539866698814, + 249.69533328241937, + -3.324047641333861 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 111.00539866698814, + 246.69533328241937, + -3.324047641333861 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 111.00539866698814, + 243.69533328241937, + -3.324047641333861 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 111.00539866698814, + 240.69533328241937, + -3.324047641333861 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 111.00539866698814, + 237.69533328241937, + -3.324047641333861 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 111.00539866698814, + 234.69533328241937, + -3.324047641333861 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 111.00539866698814, + 231.69533328241937, + -3.324047641333861 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 111.00539866698814, + 228.69533328241937, + -3.324047641333861 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 111.00539866698814, + 225.69533328241937, + -3.324047641333861 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 111.00539866698814, + 222.69533328241937, + -3.324047641333861 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 111.00539866698814, + 219.69533328241937, + -3.324047641333861 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 111.00539866698814, + 216.69533328241937, + -3.324047641333861 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 111.00539866698814, + 213.69533328241937, + -3.324047641333861 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 111.00539866698814, + 210.69533328241937, + -3.324047641333861 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 111.00539866698814, + 207.69533328241937, + -3.324047641333861 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 111.00539866698814, + 204.69533328241937, + -3.324047641333861 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 111.00539866698814, + 201.69533328241937, + -3.324047641333861 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 111.00539866698814, + 198.69533328241937, + -3.324047641333861 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 111.00539866698814, + 195.69533328241937, + -3.324047641333861 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 111.00539866698814, + 192.69533328241937, + -3.324047641333861 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 111.00539866698814, + 189.69533328241937, + -3.324047641333861 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 111.00539866698814, + 186.69533328241937, + -3.324047641333861 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 111.00539866698814, + 183.69533328241937, + -3.324047641333861 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 111.00539866698814, + 180.69533328241937, + -3.324047641333861 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 111.00539866698814, + 177.69533328241937, + -3.324047641333861 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 108.78504695892335, + 175.8657693862915, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-59-50_1127040702/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-59-50_1127040702/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d8708af8ef6c9379b27aeca29cb50f1f937f9863 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-59-50_1127040702/pose.jsonl @@ -0,0 +1,261 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 45.44708879060891, + -443.32403405899663, + -8.760296698902096 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 42.84901257925559, + -444.82403405899663, + -8.760296698902096 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 40.25093636790228, + -446.32403405899663, + -8.760296698902096 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 37.65286015654896, + -447.82403405899663, + -8.760296698902096 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 35.054783945195645, + -449.32403405899663, + -8.760296698902096 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 32.45670773384233, + -450.82403405899663, + -8.760296698902096 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 29.858631522489013, + -452.32403405899663, + -8.760296698902096 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 27.260555311135697, + -453.82403405899663, + -8.760296698902096 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 24.66247909978238, + -455.32403405899663, + -8.760296698902096 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 22.064402888429065, + -456.82403405899663, + -8.760296698902096 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 19.46632667707575, + -458.32403405899663, + -8.760296698902096 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 16.868250465722433, + -459.82403405899663, + -8.760296698902096 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 14.270174254369117, + -461.32403405899663, + -8.760296698902096 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 11.6720980430158, + -462.82403405899663, + -8.760296698902096 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 9.074021831662485, + -464.32403405899663, + -8.760296698902096 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 6.475945620309169, + -465.82403405899663, + -8.760296698902096 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 3.8778694089558527, + -467.32403405899663, + -8.760296698902096 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1.2797931976025367, + -468.82403405899663, + -8.760296698902096 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1.3182830137507793, + -470.32403405899663, + -8.760296698902096 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -3.1689678192138673, + -469.5184967041016, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-7-10_1330625380/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-7-10_1330625380/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0d32549dace26eb63d9552b7020871fb109b7bda --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-7-10_1330625380/pose.jsonl @@ -0,0 +1,235 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 810.6417144424238, + -481.39644980404734, + -0.9422982297252585 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 812.1417144424238, + -478.798373592694, + -0.9422982297252585 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 813.6417144424238, + -476.2002973813407, + -0.9422982297252585 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 815.1417144424238, + -473.6022211699874, + -0.9422982297252585 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 816.6417144424238, + -471.0041449586341, + -0.9422982297252585 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 818.1417144424238, + -468.40606874728076, + -0.9422982297252585 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 819.6417144424238, + -465.80799253592744, + -0.9422982297252585 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 821.1417144424238, + -463.2099163245741, + -0.9422982297252585 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 822.6417144424238, + -460.6118401132208, + -0.9422982297252585 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 824.1417144424238, + -458.0137639018675, + -0.9422982297252585 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 825.6417144424238, + -455.4156876905142, + -0.9422982297252585 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 825.6417144424238, + -455.4156876905142, + -0.9422982297252585 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 825.6417144424238, + -452.4156876905142, + -0.9422982297252585 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 825.6417144424238, + -449.4156876905142, + -0.9422982297252585 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 825.6417144424238, + -446.4156876905142, + -0.9422982297252585 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 825.6417144424238, + -443.4156876905142, + -0.9422982297252585 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 825.6417144424238, + -440.4156876905142, + -0.9422982297252585 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 833.5786102294923, + -416.10598869323735, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-9-25_981725170/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-9-25_981725170/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..25b5f0b33ae8d00af94869ca39e1a9114b775c5d --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-9-25_981725170/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1220.903322465652, + -255.2983627266949, + -2.184516208491228 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1223.903322465652, + -255.2983627266949, + -2.184516208491228 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1226.903322465652, + -255.2983627266949, + -2.184516208491228 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1229.903322465652, + -255.2983627266949, + -2.184516208491228 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1232.903322465652, + -255.2983627266949, + -2.184516208491228 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1235.903322465652, + -255.2983627266949, + -2.184516208491228 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1238.903322465652, + -255.2983627266949, + -2.184516208491228 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1241.903322465652, + -255.2983627266949, + -2.184516208491228 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1244.903322465652, + -255.2983627266949, + -2.184516208491228 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1247.903322465652, + -255.2983627266949, + -2.184516208491228 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1250.903322465652, + -255.2983627266949, + -2.184516208491228 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1253.903322465652, + -255.2983627266949, + -2.184516208491228 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1253.903322465652, + -255.2983627266949, + -2.184516208491228 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1253.903322465652, + -255.2983627266949, + -2.184516208491228 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1255.403322465652, + -252.7002865153416, + -2.184516208491228 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1256.903322465652, + -250.10221030398827, + -2.184516208491228 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1258.403322465652, + -247.50413409263496, + -2.184516208491228 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1259.903322465652, + -244.90605788128164, + -2.184516208491228 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1261.403322465652, + -242.30798166992832, + -2.184516208491228 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1261.403322465652, + -242.30798166992832, + -2.184516208491228 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1264.0013986770055, + -240.80798166992832, + -2.184516208491228 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1266.5994748883588, + -239.30798166992832, + -2.184516208491228 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1269.1975510997122, + -237.80798166992832, + -2.184516208491228 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1271.7956273110656, + -236.30798166992832, + -2.184516208491228 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1273.901252746582, + -233.9151123046875, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_9-12-26_449420721/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_9-12-26_449420721/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..680de87f4d195539aa300e9f69413bda68b5f618 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_9-12-26_449420721/pose.jsonl @@ -0,0 +1,196 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 970.67835209225, + -457.4415773719584, + -9.535961737955548 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 970.67835209225, + -454.4415773719584, + -9.535961737955548 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 970.67835209225, + -451.4415773719584, + -9.535961737955548 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 970.67835209225, + -448.4415773719584, + -9.535961737955548 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 970.67835209225, + -445.4415773719584, + -9.535961737955548 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 970.67835209225, + -442.4415773719584, + -9.535961737955548 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 970.67835209225, + -439.4415773719584, + -9.535961737955548 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 970.67835209225, + -436.4415773719584, + -9.535961737955548 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 970.67835209225, + -433.4415773719584, + -9.535961737955548 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 970.67835209225, + -430.4415773719584, + -9.535961737955548 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 970.67835209225, + -427.4415773719584, + -9.535961737955548 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 970.67835209225, + -424.4415773719584, + -9.535961737955548 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 970.67835209225, + -421.4415773719584, + -9.535961737955548 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 970.67835209225, + -418.4415773719584, + -9.535961737955548 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 971.7509979248048, + -378.1575077056885, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_9-2-48_902863873/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_9-2-48_902863873/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5a09cc4d9b2291e049a7e6ece2c3c51a6b09bfef --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_9-2-48_902863873/pose.jsonl @@ -0,0 +1,300 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -112.80386482871545, + -187.4574179305563, + -4.692385483640678 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -114.30386482871545, + -190.0554941419096, + -4.692385483640678 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -115.80386482871545, + -192.65357035326292, + -4.692385483640678 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -117.30386482871545, + -195.25164656461624, + -4.692385483640678 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -118.80386482871545, + -197.84972277596955, + -4.692385483640678 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -120.30386482871545, + -200.44779898732287, + -4.692385483640678 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -121.80386482871545, + -203.04587519867619, + -4.692385483640678 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -123.30386482871545, + -205.6439514100295, + -4.692385483640678 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -124.80386482871545, + -208.24202762138282, + -4.692385483640678 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -126.30386482871545, + -210.84010383273613, + -4.692385483640678 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -127.80386482871545, + -213.43818004408945, + -4.692385483640678 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -129.30386482871543, + -216.03625625544277, + -4.692385483640678 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931913 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -130.80386482871543, + -218.63433246679608, + -4.692385483640678 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -132.30386482871543, + -221.2324086781494, + -4.692385483640678 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -133.80386482871543, + -223.8304848895027, + -4.692385483640678 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -133.80386482871543, + -223.8304848895027, + -4.692385483640678 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -136.40194104006875, + -225.3304848895027, + -4.692385483640678 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -139.00001725142207, + -226.8304848895027, + -4.692385483640678 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -141.59809346277538, + -228.3304848895027, + -4.692385483640678 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -144.1961696741287, + -229.8304848895027, + -4.692385483640678 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -146.794245885482, + -231.3304848895027, + -4.692385483640678 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -149.39232209683533, + -232.8304848895027, + -4.692385483640678 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -152.3348680496216, + -234.43780555725098, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +}