diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-1_19-40-27_1102520059/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-1_19-40-27_1102520059/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..38ff2304397b5f31452510ea5bbbf34c1a346403 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-1_19-40-27_1102520059/pose.jsonl @@ -0,0 +1,340 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1762.2646550125833, + 211.35225404792794, + 34.029260399365555 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1762.2646550125833, + 214.35225404792794, + 34.029260399365555 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1762.2646550125833, + 217.35225404792794, + 34.029260399365555 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1762.2646550125833, + 220.35225404792794, + 34.029260399365555 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1762.2646550125833, + 223.35225404792794, + 34.029260399365555 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1762.2646550125833, + 226.35225404792794, + 34.029260399365555 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1762.2646550125833, + 229.35225404792794, + 34.029260399365555 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1762.2646550125833, + 232.35225404792794, + 34.029260399365555 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1762.2646550125833, + 235.35225404792794, + 34.029260399365555 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1762.2646550125833, + 238.35225404792794, + 34.029260399365555 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1762.2646550125833, + 241.35225404792794, + 34.029260399365555 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1762.2646550125833, + 244.35225404792794, + 34.029260399365555 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1762.2646550125833, + 244.35225404792794, + 34.029260399365555 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1760.7646550125833, + 246.95033025928126, + 34.029260399365555 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1759.2646550125833, + 249.54840647063457, + 34.029260399365555 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1757.7646550125833, + 252.1464826819879, + 34.029260399365555 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1756.2646550125833, + 254.7445588933412, + 34.029260399365555 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1754.7646550125833, + 257.3426351046945, + 34.029260399365555 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1753.2646550125833, + 259.94071131604784, + 34.029260399365555 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1751.7646550125833, + 262.53878752740115, + 34.029260399365555 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1750.2646550125833, + 265.13686373875447, + 34.029260399365555 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1748.7646550125833, + 267.7349399501078, + 34.029260399365555 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1747.2646550125833, + 270.3330161614611, + 34.029260399365555 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1745.7646550125833, + 272.9310923728144, + 34.029260399365555 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1744.2646550125833, + 275.52916858416773, + 34.029260399365555 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1724.0, + 368.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-1_19-44-20_35005211/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-1_19-44-20_35005211/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..54cb46fdd40ccd99b372fc9afdedb5ac4bd5b9ba --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-1_19-44-20_35005211/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 632.0979340177884, + -736.6083888380281, + 34.329888985057835 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 632.0979340177884, + -733.6083888380281, + 34.329888985057835 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 632.0979340177884, + -730.6083888380281, + 34.329888985057835 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 632.0979340177884, + -727.6083888380281, + 34.329888985057835 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 632.0979340177884, + -724.6083888380281, + 34.329888985057835 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 632.0979340177884, + -721.6083888380281, + 34.329888985057835 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 632.0979340177884, + -718.6083888380281, + 34.329888985057835 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 632.0979340177884, + -715.6083888380281, + 34.329888985057835 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 632.0979340177884, + -712.6083888380281, + 34.329888985057835 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 632.0979340177884, + -709.6083888380281, + 34.329888985057835 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 632.0979340177884, + -706.6083888380281, + 34.329888985057835 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 632.0979340177884, + -703.6083888380281, + 34.329888985057835 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 632.0979340177884, + -700.6083888380281, + 34.329888985057835 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 632.0979340177884, + -697.6083888380281, + 34.329888985057835 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 632.0979340177884, + -694.6083888380281, + 34.329888985057835 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 632.0979340177884, + -691.6083888380281, + 34.329888985057835 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 632.0979340177884, + -688.6083888380281, + 34.329888985057835 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 632.0979340177884, + -685.6083888380281, + 34.329888985057835 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 632.0979340177884, + -682.6083888380281, + 34.329888985057835 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 632.0979340177884, + -679.6083888380281, + 34.329888985057835 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 632.0979340177884, + -676.6083888380281, + 34.329888985057835 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 632.0979340177884, + -673.6083888380281, + 34.329888985057835 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 632.0979340177884, + -670.6083888380281, + 34.329888985057835 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 632.0979340177884, + -667.6083888380281, + 34.329888985057835 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 632.0979340177884, + -664.6083888380281, + 34.329888985057835 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 632.0979340177884, + -661.6083888380281, + 34.329888985057835 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 632.0979340177884, + -658.6083888380281, + 34.329888985057835 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 632.0979340177884, + -655.6083888380281, + 34.329888985057835 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 632.0979340177884, + -652.6083888380281, + 34.329888985057835 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 632.0979340177884, + -649.6083888380281, + 34.329888985057835 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 632.0979340177884, + -646.6083888380281, + 34.329888985057835 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 632.0979340177884, + -643.6083888380281, + 34.329888985057835 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 632.0979340177884, + -643.6083888380281, + 34.329888985057835 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 633.5979340177884, + -641.0103126266747, + 34.329888985057835 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 635.0979340177884, + -638.4122364153213, + 34.329888985057835 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 636.5979340177884, + -635.814160203968, + 34.329888985057835 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 638.0979340177884, + -633.2160839926146, + 34.329888985057835 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 639.5979340177884, + -630.6180077812612, + 34.329888985057835 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 641.0979340177884, + -628.0199315699078, + 34.329888985057835 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 642.5979340177884, + -625.4218553585545, + 34.329888985057835 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 644.0979340177884, + -622.8237791472011, + 34.329888985057835 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 645.5979340177884, + -620.2257029358477, + 34.329888985057835 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 647.0979340177884, + -617.6276267244943, + 34.329888985057835 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 648.5979340177884, + -615.029550513141, + 34.329888985057835 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 650.0979340177884, + -612.4314743017876, + 34.329888985057835 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 656.0, + -580.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-1_20-21-39_945117276/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-1_20-21-39_945117276/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b29951990b3ae8f3bff65a9be5aad5e9e1c2ee2a --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-1_20-21-39_945117276/pose.jsonl @@ -0,0 +1,392 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1580.1163268186299, + 1722.3081769945825, + 39.38805022593678 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1578.6163268186299, + 1724.9062532059359, + 39.38805022593678 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1577.1163268186299, + 1727.5043294172892, + 39.38805022593678 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1575.6163268186299, + 1730.1024056286426, + 39.38805022593678 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1574.1163268186299, + 1732.700481839996, + 39.38805022593678 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1572.6163268186299, + 1735.2985580513493, + 39.38805022593678 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1571.1163268186299, + 1737.8966342627027, + 39.38805022593678 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1569.6163268186299, + 1740.494710474056, + 39.38805022593678 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1568.1163268186299, + 1743.0927866854095, + 39.38805022593678 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1566.6163268186299, + 1745.6908628967628, + 39.38805022593678 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1565.1163268186299, + 1748.2889391081162, + 39.38805022593678 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1563.6163268186299, + 1750.8870153194696, + 39.38805022593678 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1562.1163268186299, + 1753.485091530823, + 39.38805022593678 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1560.6163268186299, + 1756.0831677421763, + 39.38805022593678 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1559.1163268186299, + 1758.6812439535297, + 39.38805022593678 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1559.1163268186299, + 1758.6812439535297, + 39.38805022593678 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1559.1163268186299, + 1761.6812439535297, + 39.38805022593678 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1559.1163268186299, + 1764.6812439535297, + 39.38805022593678 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1559.1163268186299, + 1767.6812439535297, + 39.38805022593678 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1559.1163268186299, + 1770.6812439535297, + 39.38805022593678 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1559.1163268186299, + 1773.6812439535297, + 39.38805022593678 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1559.1163268186299, + 1776.6812439535297, + 39.38805022593678 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1559.1163268186299, + 1779.6812439535297, + 39.38805022593678 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1559.1163268186299, + 1782.6812439535297, + 39.38805022593678 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1559.1163268186299, + 1785.6812439535297, + 39.38805022593678 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1559.1163268186299, + 1788.6812439535297, + 39.38805022593678 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1559.1163268186299, + 1791.6812439535297, + 39.38805022593678 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1559.1163268186299, + 1794.6812439535297, + 39.38805022593678 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1559.1163268186299, + 1797.6812439535297, + 39.38805022593678 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1536.0, + 1884.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-1_21-10-25_269441500/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-1_21-10-25_269441500/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5fe9be63673fe24b3e26032679a0ad28a0d7b0fc --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-1_21-10-25_269441500/pose.jsonl @@ -0,0 +1,93 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1792.5745818017651, + -325.02825624885696, + 35.10537728699253 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1794.0745818017651, + -327.6263324602103, + 35.10537728699253 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1795.5745818017651, + -330.2244086715636, + 35.10537728699253 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1797.0745818017651, + -332.8224848829169, + 35.10537728699253 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1798.5745818017651, + -335.4205610942702, + 35.10537728699253 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1800.0745818017651, + -338.01863730562354, + 35.10537728699253 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1884.0, + -480.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-1_21-31-51_1939964443/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-1_21-31-51_1939964443/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..61b7101733fcbb1ee830293c3117b8aebda9c292 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-1_21-31-51_1939964443/pose.jsonl @@ -0,0 +1,522 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1664.1940649111648, + 15.749105798392492, + 37.33124407587377 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1661.5959886998114, + 17.249105798392492, + 37.33124407587377 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1658.997912488458, + 18.749105798392492, + 37.33124407587377 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1658.997912488458, + 18.749105798392492, + 37.33124407587377 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1657.497912488458, + 21.347182009745808, + 37.33124407587377 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1655.997912488458, + 23.945258221099124, + 37.33124407587377 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1654.497912488458, + 26.54333443245244, + 37.33124407587377 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1652.997912488458, + 29.141410643805756, + 37.33124407587377 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1651.497912488458, + 31.739486855159072, + 37.33124407587377 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1649.997912488458, + 34.33756306651239, + 37.33124407587377 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1649.997912488458, + 34.33756306651239, + 37.33124407587377 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1649.997912488458, + 37.33756306651239, + 37.33124407587377 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1649.997912488458, + 40.33756306651239, + 37.33124407587377 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1649.997912488458, + 43.33756306651239, + 37.33124407587377 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1649.997912488458, + 46.33756306651239, + 37.33124407587377 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1649.997912488458, + 49.33756306651239, + 37.33124407587377 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1649.997912488458, + 52.33756306651239, + 37.33124407587377 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1649.997912488458, + 55.33756306651239, + 37.33124407587377 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1649.997912488458, + 58.33756306651239, + 37.33124407587377 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1649.997912488458, + 61.33756306651239, + 37.33124407587377 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1649.997912488458, + 64.33756306651239, + 37.33124407587377 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1649.997912488458, + 67.33756306651239, + 37.33124407587377 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1649.997912488458, + 70.33756306651239, + 37.33124407587377 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1649.997912488458, + 73.33756306651239, + 37.33124407587377 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1649.997912488458, + 76.33756306651239, + 37.33124407587377 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1649.997912488458, + 79.33756306651239, + 37.33124407587377 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1649.997912488458, + 82.33756306651239, + 37.33124407587377 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1649.997912488458, + 85.33756306651239, + 37.33124407587377 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1649.997912488458, + 88.33756306651239, + 37.33124407587377 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1649.997912488458, + 91.33756306651239, + 37.33124407587377 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1649.997912488458, + 94.33756306651239, + 37.33124407587377 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1649.997912488458, + 97.33756306651239, + 37.33124407587377 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1649.997912488458, + 100.33756306651239, + 37.33124407587377 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1649.997912488458, + 103.33756306651239, + 37.33124407587377 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1649.997912488458, + 106.33756306651239, + 37.33124407587377 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1649.997912488458, + 109.33756306651239, + 37.33124407587377 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1649.997912488458, + 112.33756306651239, + 37.33124407587377 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1649.997912488458, + 115.33756306651239, + 37.33124407587377 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1649.997912488458, + 118.33756306651239, + 37.33124407587377 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1644.0, + 172.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-1_21-35-4_165344818/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-1_21-35-4_165344818/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..569eb2b2a9d3684dc190ef53d9f6605308717b0d --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-1_21-35-4_165344818/pose.jsonl @@ -0,0 +1,548 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 937.4372361543166, + 138.64353367951654, + 33.91762209646599 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 934.4372361543166, + 138.64353367951654, + 33.91762209646599 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 931.4372361543166, + 138.64353367951654, + 33.91762209646599 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 928.4372361543166, + 138.64353367951654, + 33.91762209646599 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 925.4372361543166, + 138.64353367951654, + 33.91762209646599 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 922.4372361543166, + 138.64353367951654, + 33.91762209646599 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 919.4372361543166, + 138.64353367951654, + 33.91762209646599 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 916.4372361543166, + 138.64353367951654, + 33.91762209646599 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 913.4372361543166, + 138.64353367951654, + 33.91762209646599 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 910.4372361543166, + 138.64353367951654, + 33.91762209646599 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 907.4372361543166, + 138.64353367951654, + 33.91762209646599 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 904.4372361543166, + 138.64353367951654, + 33.91762209646599 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 901.4372361543166, + 138.64353367951654, + 33.91762209646599 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 898.4372361543166, + 138.64353367951654, + 33.91762209646599 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 895.4372361543166, + 138.64353367951654, + 33.91762209646599 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 892.4372361543166, + 138.64353367951654, + 33.91762209646599 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 889.4372361543166, + 138.64353367951654, + 33.91762209646599 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 886.4372361543166, + 138.64353367951654, + 33.91762209646599 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 883.4372361543166, + 138.64353367951654, + 33.91762209646599 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 880.4372361543166, + 138.64353367951654, + 33.91762209646599 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 877.4372361543166, + 138.64353367951654, + 33.91762209646599 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 874.4372361543166, + 138.64353367951654, + 33.91762209646599 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 871.4372361543166, + 138.64353367951654, + 33.91762209646599 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 868.4372361543166, + 138.64353367951654, + 33.91762209646599 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 865.4372361543166, + 138.64353367951654, + 33.91762209646599 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 862.4372361543166, + 138.64353367951654, + 33.91762209646599 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 859.4372361543166, + 138.64353367951654, + 33.91762209646599 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 856.4372361543166, + 138.64353367951654, + 33.91762209646599 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 853.4372361543166, + 138.64353367951654, + 33.91762209646599 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 850.4372361543166, + 138.64353367951654, + 33.91762209646599 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 847.4372361543166, + 138.64353367951654, + 33.91762209646599 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 844.4372361543166, + 138.64353367951654, + 33.91762209646599 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 841.4372361543166, + 138.64353367951654, + 33.91762209646599 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 838.4372361543166, + 138.64353367951654, + 33.91762209646599 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 838.4372361543166, + 138.64353367951654, + 33.91762209646599 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 835.8391599429633, + 137.14353367951654, + 33.91762209646599 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 833.2410837316099, + 135.64353367951654, + 33.91762209646599 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 830.6430075202566, + 134.14353367951654, + 33.91762209646599 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 828.0449313089032, + 132.64353367951654, + 33.91762209646599 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 825.4468550975498, + 131.14353367951654, + 33.91762209646599 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 822.8487788861964, + 129.64353367951654, + 33.91762209646599 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 772.0, + 128.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-1_21-45-32_243268139/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-1_21-45-32_243268139/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..41ba57827b015a1030592c1f7a0a5f0627af8c2a --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-1_21-45-32_243268139/pose.jsonl @@ -0,0 +1,106 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1760.5646626254966, + -946.1326768637063, + 36.574302436526395 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1763.5646626254966, + -946.1326768637063, + 36.574302436526395 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1766.5646626254966, + -946.1326768637063, + 36.574302436526395 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1769.5646626254966, + -946.1326768637063, + 36.574302436526395 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1769.5646626254966, + -946.1326768637063, + 36.574302436526395 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1769.5646626254966, + -946.1326768637063, + 36.574302436526395 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1771.0646626254966, + -943.534600652353, + 36.574302436526395 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965976 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1924.0, + -888.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-1_22-37-39_625032172/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-1_22-37-39_625032172/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..15aafa6ed85c670705a63d57d44732fb4530a043 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-1_22-37-39_625032172/pose.jsonl @@ -0,0 +1,769 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1598.1991573066548, + 1016.0543487370596, + 39.064430023411035 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1600.7972335180082, + 1014.5543487370596, + 39.064430023411035 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1603.3953097293615, + 1013.0543487370596, + 39.064430023411035 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1605.993385940715, + 1011.5543487370596, + 39.064430023411035 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1605.993385940715, + 1011.5543487370596, + 39.064430023411035 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1605.993385940715, + 1011.5543487370596, + 39.064430023411035 + ], + "type": "go straight", + "value": 3, + "yaw": -1.570796326794906 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1605.993385940715, + 1008.5543487370596, + 39.064430023411035 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1605.993385940715, + 1005.5543487370596, + 39.064430023411035 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1605.993385940715, + 1002.5543487370596, + 39.064430023411035 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1605.993385940715, + 999.5543487370596, + 39.064430023411035 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1605.993385940715, + 999.5543487370596, + 39.064430023411035 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1607.493385940715, + 996.9562725257063, + 39.064430023411035 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1607.493385940715, + 996.9562725257063, + 39.064430023411035 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1610.0914621520683, + 995.4562725257063, + 39.064430023411035 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1612.6895383634217, + 993.9562725257063, + 39.064430023411035 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1615.287614574775, + 992.4562725257063, + 39.064430023411035 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1617.8856907861284, + 990.9562725257063, + 39.064430023411035 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1620.4837669974818, + 989.4562725257063, + 39.064430023411035 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1623.0818432088352, + 987.9562725257063, + 39.064430023411035 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1625.6799194201885, + 986.4562725257063, + 39.064430023411035 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1628.277995631542, + 984.9562725257063, + 39.064430023411035 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1630.8760718428953, + 983.4562725257063, + 39.064430023411035 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1633.4741480542486, + 981.9562725257063, + 39.064430023411035 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1636.072224265602, + 980.4562725257063, + 39.064430023411035 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1638.6703004769554, + 978.9562725257063, + 39.064430023411035 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1641.2683766883088, + 977.4562725257063, + 39.064430023411035 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1643.8664528996621, + 975.9562725257063, + 39.064430023411035 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1646.4645291110155, + 974.4562725257063, + 39.064430023411035 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1646.4645291110155, + 974.4562725257063, + 39.064430023411035 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1649.4645291110155, + 974.4562725257063, + 39.064430023411035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1652.4645291110155, + 974.4562725257063, + 39.064430023411035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1655.4645291110155, + 974.4562725257063, + 39.064430023411035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1658.4645291110155, + 974.4562725257063, + 39.064430023411035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1661.4645291110155, + 974.4562725257063, + 39.064430023411035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1664.4645291110155, + 974.4562725257063, + 39.064430023411035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1667.4645291110155, + 974.4562725257063, + 39.064430023411035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1670.4645291110155, + 974.4562725257063, + 39.064430023411035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1673.4645291110155, + 974.4562725257063, + 39.064430023411035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1676.4645291110155, + 974.4562725257063, + 39.064430023411035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1679.4645291110155, + 974.4562725257063, + 39.064430023411035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1682.4645291110155, + 974.4562725257063, + 39.064430023411035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1685.4645291110155, + 974.4562725257063, + 39.064430023411035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1688.4645291110155, + 974.4562725257063, + 39.064430023411035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1691.4645291110155, + 974.4562725257063, + 39.064430023411035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1694.4645291110155, + 974.4562725257063, + 39.064430023411035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1697.4645291110155, + 974.4562725257063, + 39.064430023411035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1700.4645291110155, + 974.4562725257063, + 39.064430023411035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1703.4645291110155, + 974.4562725257063, + 39.064430023411035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1706.4645291110155, + 974.4562725257063, + 39.064430023411035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1709.4645291110155, + 974.4562725257063, + 39.064430023411035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -1712.4645291110155, + 974.4562725257063, + 39.064430023411035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -1715.4645291110155, + 974.4562725257063, + 39.064430023411035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -1718.4645291110155, + 974.4562725257063, + 39.064430023411035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -1721.4645291110155, + 974.4562725257063, + 39.064430023411035 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -1721.4645291110155, + 974.4562725257063, + 39.064430023411035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -1724.0626053223689, + 972.9562725257063, + 39.064430023411035 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -1726.6606815337223, + 971.4562725257063, + 39.064430023411035 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -1729.2587577450756, + 969.9562725257063, + 39.064430023411035 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1764.0, + 956.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-1_22-40-14_1295166342/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-1_22-40-14_1295166342/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c1ce9b5ef97e8dde9a851d0bd18d1117c55123da --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-1_22-40-14_1295166342/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 16.58742114441894, + 1697.2926768489267, + 35.813830211601214 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 19.185497355772256, + 1698.7926768489267, + 35.813830211601214 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 21.783573567125572, + 1700.2926768489267, + 35.813830211601214 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 24.381649778478888, + 1701.7926768489267, + 35.813830211601214 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 26.979725989832204, + 1703.2926768489267, + 35.813830211601214 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 29.57780220118552, + 1704.7926768489267, + 35.813830211601214 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 32.175878412538836, + 1706.2926768489267, + 35.813830211601214 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 34.77395462389215, + 1707.7926768489267, + 35.813830211601214 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 37.37203083524547, + 1709.2926768489267, + 35.813830211601214 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 39.970107046598784, + 1710.7926768489267, + 35.813830211601214 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 42.5681832579521, + 1712.2926768489267, + 35.813830211601214 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 45.166259469305416, + 1713.7926768489267, + 35.813830211601214 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 47.76433568065873, + 1715.2926768489267, + 35.813830211601214 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 50.36241189201205, + 1716.7926768489267, + 35.813830211601214 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 52.960488103365364, + 1718.2926768489267, + 35.813830211601214 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 55.55856431471868, + 1719.7926768489267, + 35.813830211601214 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 58.156640526071996, + 1721.2926768489267, + 35.813830211601214 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 60.75471673742531, + 1722.7926768489267, + 35.813830211601214 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 60.75471673742531, + 1722.7926768489267, + 35.813830211601214 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 63.75471673742531, + 1722.7926768489267, + 35.813830211601214 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 63.75471673742531, + 1722.7926768489267, + 35.813830211601214 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 63.75471673742531, + 1722.7926768489267, + 35.813830211601214 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 65.25471673742531, + 1725.39075306028, + 35.813830211601214 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 65.25471673742531, + 1725.39075306028, + 35.813830211601214 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 65.25471673742531, + 1728.39075306028, + 35.813830211601214 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 65.25471673742531, + 1731.39075306028, + 35.813830211601214 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 65.25471673742531, + 1734.39075306028, + 35.813830211601214 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 65.25471673742531, + 1737.39075306028, + 35.813830211601214 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 65.25471673742531, + 1740.39075306028, + 35.813830211601214 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 65.25471673742531, + 1743.39075306028, + 35.813830211601214 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 65.25471673742531, + 1746.39075306028, + 35.813830211601214 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 65.25471673742531, + 1749.39075306028, + 35.813830211601214 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 65.25471673742531, + 1752.39075306028, + 35.813830211601214 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 65.25471673742531, + 1755.39075306028, + 35.813830211601214 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 65.25471673742531, + 1758.39075306028, + 35.813830211601214 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 65.25471673742531, + 1761.39075306028, + 35.813830211601214 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 65.25471673742531, + 1764.39075306028, + 35.813830211601214 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 65.25471673742531, + 1767.39075306028, + 35.813830211601214 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 65.25471673742531, + 1770.39075306028, + 35.813830211601214 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 65.25471673742531, + 1773.39075306028, + 35.813830211601214 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 65.25471673742531, + 1776.39075306028, + 35.813830211601214 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 65.25471673742531, + 1779.39075306028, + 35.813830211601214 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 65.25471673742531, + 1782.39075306028, + 35.813830211601214 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 65.25471673742531, + 1785.39075306028, + 35.813830211601214 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 65.25471673742531, + 1785.39075306028, + 35.813830211601214 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 66.75471673742531, + 1787.9888292716334, + 35.813830211601214 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 68.25471673742531, + 1790.5869054829868, + 35.813830211601214 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 69.75471673742531, + 1793.1849816943402, + 35.813830211601214 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 71.25471673742531, + 1795.7830579056936, + 35.813830211601214 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 72.75471673742531, + 1798.381134117047, + 35.813830211601214 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 100.0, + 1852.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-1_23-1-57_1414647625/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-1_23-1-57_1414647625/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c80960f87695a3f4f4365a4094a54dfd4fb6b7e0 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-1_23-1-57_1414647625/pose.jsonl @@ -0,0 +1,561 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1625.344718138272, + -600.5369646158157, + 35.06753020064235 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1628.344718138272, + -600.5369646158157, + 35.06753020064235 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1631.344718138272, + -600.5369646158157, + 35.06753020064235 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1634.344718138272, + -600.5369646158157, + 35.06753020064235 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1637.344718138272, + -600.5369646158157, + 35.06753020064235 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1640.344718138272, + -600.5369646158157, + 35.06753020064235 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1643.344718138272, + -600.5369646158157, + 35.06753020064235 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1646.344718138272, + -600.5369646158157, + 35.06753020064235 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1649.344718138272, + -600.5369646158157, + 35.06753020064235 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1652.344718138272, + -600.5369646158157, + 35.06753020064235 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1655.344718138272, + -600.5369646158157, + 35.06753020064235 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1658.344718138272, + -600.5369646158157, + 35.06753020064235 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1661.344718138272, + -600.5369646158157, + 35.06753020064235 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1664.344718138272, + -600.5369646158157, + 35.06753020064235 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1667.344718138272, + -600.5369646158157, + 35.06753020064235 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1670.344718138272, + -600.5369646158157, + 35.06753020064235 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1673.344718138272, + -600.5369646158157, + 35.06753020064235 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1676.344718138272, + -600.5369646158157, + 35.06753020064235 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1679.344718138272, + -600.5369646158157, + 35.06753020064235 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1682.344718138272, + -600.5369646158157, + 35.06753020064235 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1685.344718138272, + -600.5369646158157, + 35.06753020064235 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1688.344718138272, + -600.5369646158157, + 35.06753020064235 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1691.344718138272, + -600.5369646158157, + 35.06753020064235 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1694.344718138272, + -600.5369646158157, + 35.06753020064235 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1697.344718138272, + -600.5369646158157, + 35.06753020064235 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1700.344718138272, + -600.5369646158157, + 35.06753020064235 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1703.344718138272, + -600.5369646158157, + 35.06753020064235 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1706.344718138272, + -600.5369646158157, + 35.06753020064235 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1709.344718138272, + -600.5369646158157, + 35.06753020064235 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1712.344718138272, + -600.5369646158157, + 35.06753020064235 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1715.344718138272, + -600.5369646158157, + 35.06753020064235 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1715.344718138272, + -600.5369646158157, + 35.06753020064235 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1717.9427943496253, + -602.0369646158157, + 35.06753020064235 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1720.5408705609786, + -603.5369646158157, + 35.06753020064235 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1723.138946772332, + -605.0369646158157, + 35.06753020064235 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1725.7370229836854, + -606.5369646158157, + 35.06753020064235 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1728.3350991950388, + -608.0369646158157, + 35.06753020064235 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1730.9331754063921, + -609.5369646158157, + 35.06753020064235 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1733.5312516177455, + -611.0369646158157, + 35.06753020064235 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1736.1293278290989, + -612.5369646158157, + 35.06753020064235 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1738.7274040404523, + -614.0369646158157, + 35.06753020064235 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1741.3254802518056, + -615.5369646158157, + 35.06753020064235 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1780.0, + -620.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-1_23-39-23_1129033333/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-1_23-39-23_1129033333/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..043349ff5bd2f5fc5d057ba0cfa70e7cd729a1be --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-1_23-39-23_1129033333/pose.jsonl @@ -0,0 +1,782 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1627.1045302177388, + -770.7468791855305, + 39.10939437424358 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1624.1045302177388, + -770.7468791855305, + 39.10939437424358 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1621.1045302177388, + -770.7468791855305, + 39.10939437424358 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1618.1045302177388, + -770.7468791855305, + 39.10939437424358 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1615.1045302177388, + -770.7468791855305, + 39.10939437424358 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1612.1045302177388, + -770.7468791855305, + 39.10939437424358 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1609.1045302177388, + -770.7468791855305, + 39.10939437424358 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1606.1045302177388, + -770.7468791855305, + 39.10939437424358 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1603.1045302177388, + -770.7468791855305, + 39.10939437424358 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1600.1045302177388, + -770.7468791855305, + 39.10939437424358 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1597.1045302177388, + -770.7468791855305, + 39.10939437424358 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1594.1045302177388, + -770.7468791855305, + 39.10939437424358 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1591.1045302177388, + -770.7468791855305, + 39.10939437424358 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1588.1045302177388, + -770.7468791855305, + 39.10939437424358 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1585.1045302177388, + -770.7468791855305, + 39.10939437424358 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1582.1045302177388, + -770.7468791855305, + 39.10939437424358 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1579.1045302177388, + -770.7468791855305, + 39.10939437424358 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1579.1045302177388, + -770.7468791855305, + 39.10939437424358 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1579.1045302177388, + -770.7468791855305, + 39.10939437424358 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1577.6045302177388, + -768.1488029741772, + 39.10939437424358 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1576.1045302177388, + -765.5507267628238, + 39.10939437424358 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1574.6045302177388, + -762.9526505514705, + 39.10939437424358 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1573.1045302177388, + -760.3545743401171, + 39.10939437424358 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1571.6045302177388, + -757.7564981287637, + 39.10939437424358 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1570.1045302177388, + -755.1584219174104, + 39.10939437424358 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1568.6045302177388, + -752.560345706057, + 39.10939437424358 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1567.1045302177388, + -749.9622694947036, + 39.10939437424358 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1565.6045302177388, + -747.3641932833502, + 39.10939437424358 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1564.1045302177388, + -744.7661170719969, + 39.10939437424358 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1562.6045302177388, + -742.1680408606435, + 39.10939437424358 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1562.6045302177388, + -742.1680408606435, + 39.10939437424358 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1560.0064540063854, + -740.6680408606435, + 39.10939437424358 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1557.408377795032, + -739.1680408606435, + 39.10939437424358 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1554.8103015836787, + -737.6680408606435, + 39.10939437424358 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1552.2122253723253, + -736.1680408606435, + 39.10939437424358 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1549.614149160972, + -734.6680408606435, + 39.10939437424358 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1547.0160729496185, + -733.1680408606435, + 39.10939437424358 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1544.4179967382652, + -731.6680408606435, + 39.10939437424358 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1541.8199205269118, + -730.1680408606435, + 39.10939437424358 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1539.2218443155584, + -728.6680408606435, + 39.10939437424358 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1536.623768104205, + -727.1680408606435, + 39.10939437424358 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1534.0256918928517, + -725.6680408606435, + 39.10939437424358 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1531.4276156814983, + -724.1680408606435, + 39.10939437424358 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1528.829539470145, + -722.6680408606435, + 39.10939437424358 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1526.2314632587916, + -721.1680408606435, + 39.10939437424358 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1523.6333870474382, + -719.6680408606435, + 39.10939437424358 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1521.0353108360848, + -718.1680408606435, + 39.10939437424358 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1518.4372346247314, + -716.6680408606435, + 39.10939437424358 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1515.839158413378, + -715.1680408606435, + 39.10939437424358 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1513.2410822020247, + -713.6680408606435, + 39.10939437424358 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -1510.6430059906713, + -712.1680408606435, + 39.10939437424358 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -1508.044929779318, + -710.6680408606435, + 39.10939437424358 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -1505.4468535679646, + -709.1680408606435, + 39.10939437424358 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -1502.8487773566112, + -707.6680408606435, + 39.10939437424358 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -1500.2507011452578, + -706.1680408606435, + 39.10939437424358 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -1497.6526249339045, + -704.6680408606435, + 39.10939437424358 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -1495.054548722551, + -703.1680408606435, + 39.10939437424358 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -1492.4564725111977, + -701.6680408606435, + 39.10939437424358 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -1489.8583962998443, + -700.1680408606435, + 39.10939437424358 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1476.0, + -692.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-1_23-55-9_1315209188/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-1_23-55-9_1315209188/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c271ce28a17c8112a091182a279a328215bc2c49 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-1_23-55-9_1315209188/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -263.00306483468603, + 1504.8417004494954, + 32.581263285046674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -261.50306483468603, + 1507.4397766608488, + 32.581263285046674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -260.00306483468603, + 1510.0378528722022, + 32.581263285046674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -258.50306483468603, + 1512.6359290835555, + 32.581263285046674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -257.00306483468603, + 1515.234005294909, + 32.581263285046674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -255.50306483468603, + 1517.8320815062623, + 32.581263285046674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -254.00306483468603, + 1520.4301577176157, + 32.581263285046674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -252.50306483468603, + 1523.028233928969, + 32.581263285046674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -251.00306483468603, + 1525.6263101403224, + 32.581263285046674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -249.50306483468603, + 1528.2243863516758, + 32.581263285046674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -248.00306483468603, + 1530.8224625630291, + 32.581263285046674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -246.50306483468603, + 1533.4205387743825, + 32.581263285046674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -245.00306483468603, + 1536.018614985736, + 32.581263285046674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -243.50306483468603, + 1538.6166911970893, + 32.581263285046674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -242.00306483468603, + 1541.2147674084426, + 32.581263285046674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -240.50306483468603, + 1543.812843619796, + 32.581263285046674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -239.00306483468603, + 1546.4109198311494, + 32.581263285046674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -237.50306483468603, + 1549.0089960425028, + 32.581263285046674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -236.00306483468603, + 1551.6070722538561, + 32.581263285046674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -234.50306483468603, + 1554.2051484652095, + 32.581263285046674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -233.00306483468603, + 1556.8032246765629, + 32.581263285046674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -231.50306483468603, + 1559.4013008879162, + 32.581263285046674 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -231.50306483468603, + 1559.4013008879162, + 32.581263285046674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -231.50306483468603, + 1562.4013008879162, + 32.581263285046674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -231.50306483468603, + 1565.4013008879162, + 32.581263285046674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -231.50306483468603, + 1568.4013008879162, + 32.581263285046674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -231.50306483468603, + 1571.4013008879162, + 32.581263285046674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -231.50306483468603, + 1574.4013008879162, + 32.581263285046674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -231.50306483468603, + 1577.4013008879162, + 32.581263285046674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -231.50306483468603, + 1580.4013008879162, + 32.581263285046674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -231.50306483468603, + 1583.4013008879162, + 32.581263285046674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -231.50306483468603, + 1586.4013008879162, + 32.581263285046674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -231.50306483468603, + 1589.4013008879162, + 32.581263285046674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -231.50306483468603, + 1592.4013008879162, + 32.581263285046674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -231.50306483468603, + 1595.4013008879162, + 32.581263285046674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -231.50306483468603, + 1598.4013008879162, + 32.581263285046674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -231.50306483468603, + 1601.4013008879162, + 32.581263285046674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -231.50306483468603, + 1604.4013008879162, + 32.581263285046674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -231.50306483468603, + 1607.4013008879162, + 32.581263285046674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -231.50306483468603, + 1610.4013008879162, + 32.581263285046674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -231.50306483468603, + 1613.4013008879162, + 32.581263285046674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -231.50306483468603, + 1616.4013008879162, + 32.581263285046674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -231.50306483468603, + 1619.4013008879162, + 32.581263285046674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -231.50306483468603, + 1622.4013008879162, + 32.581263285046674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -231.50306483468603, + 1625.4013008879162, + 32.581263285046674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -231.50306483468603, + 1628.4013008879162, + 32.581263285046674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -231.50306483468603, + 1631.4013008879162, + 32.581263285046674 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -224.0, + 1660.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_0-27-20_1900553541/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_0-27-20_1900553541/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b8981ded4a52d6b742da449cc7abed16665fa2ac --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_0-27-20_1900553541/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 420.0229782431103, + -21.12644425945369, + 35.87770492146137 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 422.6210544544636, + -19.62644425945369, + 35.87770492146137 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 425.2191306658169, + -18.12644425945369, + 35.87770492146137 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 427.81720687717024, + -16.62644425945369, + 35.87770492146137 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 430.41528308852355, + -15.126444259453692, + 35.87770492146137 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 433.01335929987687, + -13.626444259453692, + 35.87770492146137 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 435.6114355112302, + -12.126444259453692, + 35.87770492146137 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 438.2095117225835, + -10.626444259453692, + 35.87770492146137 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 440.8075879339368, + -9.126444259453692, + 35.87770492146137 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 443.40566414529013, + -7.626444259453692, + 35.87770492146137 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 446.00374035664345, + -6.126444259453692, + 35.87770492146137 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 448.60181656799676, + -4.626444259453692, + 35.87770492146137 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 451.1998927793501, + -3.1264442594536916, + 35.87770492146137 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 453.7979689907034, + -1.6264442594536919, + 35.87770492146137 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 456.3960452020567, + -0.1264442594536921, + 35.87770492146137 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 458.99412141341, + 1.3735557405463077, + 35.87770492146137 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 461.59219762476334, + 2.8735557405463075, + 35.87770492146137 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 464.19027383611666, + 4.3735557405463075, + 35.87770492146137 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 466.78835004747, + 5.8735557405463075, + 35.87770492146137 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 469.3864262588233, + 7.3735557405463075, + 35.87770492146137 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 471.9845024701766, + 8.873555740546307, + 35.87770492146137 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982986 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 474.5825786815299, + 10.373555740546307, + 35.87770492146137 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 477.18065489288324, + 11.873555740546307, + 35.87770492146137 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 479.77873110423656, + 13.373555740546307, + 35.87770492146137 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 482.3768073155899, + 14.873555740546307, + 35.87770492146137 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 484.9748835269432, + 16.373555740546305, + 35.87770492146137 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982984 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 487.5729597382965, + 17.873555740546305, + 35.87770492146137 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 490.1710359496498, + 19.373555740546305, + 35.87770492146137 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 492.76911216100314, + 20.873555740546305, + 35.87770492146137 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 495.36718837235645, + 22.373555740546305, + 35.87770492146137 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 497.96526458370977, + 23.873555740546305, + 35.87770492146137 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 500.5633407950631, + 25.373555740546305, + 35.87770492146137 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 503.1614170064164, + 26.873555740546305, + 35.87770492146137 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 505.7594932177697, + 28.373555740546305, + 35.87770492146137 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 508.35756942912303, + 29.873555740546305, + 35.87770492146137 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 510.95564564047635, + 31.373555740546305, + 35.87770492146137 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 513.5537218518297, + 32.8735557405463, + 35.87770492146137 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982978 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 516.1517980631829, + 34.3735557405463, + 35.87770492146137 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 518.7498742745363, + 35.8735557405463, + 35.87770492146137 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 521.3479504858897, + 37.3735557405463, + 35.87770492146137 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 523.946026697243, + 38.8735557405463, + 35.87770492146137 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 526.5441029085964, + 40.3735557405463, + 35.87770492146137 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 529.1421791199498, + 41.8735557405463, + 35.87770492146137 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 531.7402553313032, + 43.3735557405463, + 35.87770492146137 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 534.3383315426565, + 44.8735557405463, + 35.87770492146137 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 536.9364077540099, + 46.3735557405463, + 35.87770492146137 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 539.5344839653633, + 47.8735557405463, + 35.87770492146137 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 542.1325601767167, + 49.3735557405463, + 35.87770492146137 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 544.73063638807, + 50.8735557405463, + 35.87770492146137 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 576.0, + 68.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_0-27-53_400000569/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_0-27-53_400000569/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8467f8794c035fdcc9061d09b1aec9bdc8badb7d --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_0-27-53_400000569/pose.jsonl @@ -0,0 +1,834 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1486.4343128994487, + 431.7007066054802, + 39.16828555775364 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1483.8362366880954, + 430.2007066054802, + 39.16828555775364 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1481.238160476742, + 428.7007066054802, + 39.16828555775364 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1478.6400842653886, + 427.2007066054802, + 39.16828555775364 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1476.0420080540353, + 425.7007066054802, + 39.16828555775364 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1473.4439318426819, + 424.2007066054802, + 39.16828555775364 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1470.8458556313285, + 422.7007066054802, + 39.16828555775364 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1468.2477794199751, + 421.2007066054802, + 39.16828555775364 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1465.6497032086218, + 419.7007066054802, + 39.16828555775364 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1463.0516269972684, + 418.2007066054802, + 39.16828555775364 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1460.453550785915, + 416.7007066054802, + 39.16828555775364 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1457.8554745745616, + 415.2007066054802, + 39.16828555775364 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1455.2573983632083, + 413.7007066054802, + 39.16828555775364 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1452.659322151855, + 412.2007066054802, + 39.16828555775364 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1450.0612459405015, + 410.7007066054802, + 39.16828555775364 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1447.4631697291481, + 409.2007066054802, + 39.16828555775364 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1444.8650935177948, + 407.7007066054802, + 39.16828555775364 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1442.2670173064414, + 406.2007066054802, + 39.16828555775364 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1439.668941095088, + 404.7007066054802, + 39.16828555775364 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1439.668941095088, + 404.7007066054802, + 39.16828555775364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1438.168941095088, + 402.1026303941269, + 39.16828555775364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1436.668941095088, + 399.5045541827736, + 39.16828555775364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1435.168941095088, + 396.90647797142026, + 39.16828555775364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1433.668941095088, + 394.30840176006694, + 39.16828555775364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1432.168941095088, + 391.7103255487136, + 39.16828555775364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1430.668941095088, + 389.1122493373603, + 39.16828555775364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1429.168941095088, + 386.514173126007, + 39.16828555775364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1427.668941095088, + 383.9160969146537, + 39.16828555775364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1426.168941095088, + 381.31802070330036, + 39.16828555775364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1424.668941095088, + 378.71994449194705, + 39.16828555775364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1423.168941095088, + 376.12186828059373, + 39.16828555775364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1421.668941095088, + 373.5237920692404, + 39.16828555775364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1420.168941095088, + 370.9257158578871, + 39.16828555775364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1418.668941095088, + 368.3276396465338, + 39.16828555775364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1417.168941095088, + 365.72956343518047, + 39.16828555775364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1415.668941095088, + 363.13148722382715, + 39.16828555775364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1414.168941095088, + 360.53341101247383, + 39.16828555775364 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1414.168941095088, + 360.53341101247383, + 39.16828555775364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1414.168941095088, + 357.53341101247383, + 39.16828555775364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1414.168941095088, + 354.53341101247383, + 39.16828555775364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1414.168941095088, + 351.53341101247383, + 39.16828555775364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1414.168941095088, + 348.53341101247383, + 39.16828555775364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1414.168941095088, + 345.53341101247383, + 39.16828555775364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1414.168941095088, + 342.53341101247383, + 39.16828555775364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1414.168941095088, + 339.53341101247383, + 39.16828555775364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1414.168941095088, + 336.53341101247383, + 39.16828555775364 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1414.168941095088, + 336.53341101247383, + 39.16828555775364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1412.668941095088, + 333.9353348011205, + 39.16828555775364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1411.168941095088, + 331.3372585897672, + 39.16828555775364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1409.668941095088, + 328.7391823784139, + 39.16828555775364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -1408.168941095088, + 326.14110616706057, + 39.16828555775364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -1406.668941095088, + 323.54302995570725, + 39.16828555775364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -1405.168941095088, + 320.94495374435394, + 39.16828555775364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -1403.668941095088, + 318.3468775330006, + 39.16828555775364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -1402.168941095088, + 315.7488013216473, + 39.16828555775364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -1400.668941095088, + 313.150725110294, + 39.16828555775364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -1399.168941095088, + 310.5526488989407, + 39.16828555775364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -1397.668941095088, + 307.95457268758736, + 39.16828555775364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -1396.168941095088, + 305.35649647623404, + 39.16828555775364 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -1396.168941095088, + 305.35649647623404, + 39.16828555775364 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -1393.5708648837347, + 303.85649647623404, + 39.16828555775364 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -1390.9727886723813, + 302.35649647623404, + 39.16828555775364 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -1388.374712461028, + 300.85649647623404, + 39.16828555775364 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1380.0, + 288.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_0-30-27_410409117/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_0-30-27_410409117/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0c2857cc8cd7c5c28996e5036db92700255f2754 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_0-30-27_410409117/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 297.36774417078726, + 1177.655337942411, + 32.88932845445018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 297.36774417078726, + 1174.655337942411, + 32.88932845445018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 297.36774417078726, + 1171.655337942411, + 32.88932845445018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 297.36774417078726, + 1168.655337942411, + 32.88932845445018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 297.36774417078726, + 1165.655337942411, + 32.88932845445018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 297.36774417078726, + 1162.655337942411, + 32.88932845445018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 297.36774417078726, + 1159.655337942411, + 32.88932845445018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 297.36774417078726, + 1156.655337942411, + 32.88932845445018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 297.36774417078726, + 1153.655337942411, + 32.88932845445018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 297.36774417078726, + 1150.655337942411, + 32.88932845445018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 297.36774417078726, + 1147.655337942411, + 32.88932845445018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 297.36774417078726, + 1144.655337942411, + 32.88932845445018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 297.36774417078726, + 1141.655337942411, + 32.88932845445018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 297.36774417078726, + 1138.655337942411, + 32.88932845445018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 297.36774417078726, + 1135.655337942411, + 32.88932845445018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 297.36774417078726, + 1132.655337942411, + 32.88932845445018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 297.36774417078726, + 1129.655337942411, + 32.88932845445018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 297.36774417078726, + 1126.655337942411, + 32.88932845445018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 297.36774417078726, + 1123.655337942411, + 32.88932845445018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 297.36774417078726, + 1120.655337942411, + 32.88932845445018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 297.36774417078726, + 1117.655337942411, + 32.88932845445018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 297.36774417078726, + 1114.655337942411, + 32.88932845445018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 297.36774417078726, + 1111.655337942411, + 32.88932845445018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 297.36774417078726, + 1108.655337942411, + 32.88932845445018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 297.36774417078726, + 1105.655337942411, + 32.88932845445018 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 297.36774417078726, + 1105.655337942411, + 32.88932845445018 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 295.86774417078726, + 1103.0572617310577, + 32.88932845445018 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 294.36774417078726, + 1100.4591855197043, + 32.88932845445018 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 292.86774417078726, + 1097.861109308351, + 32.88932845445018 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 291.36774417078726, + 1095.2630330969976, + 32.88932845445018 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 289.86774417078726, + 1092.6649568856442, + 32.88932845445018 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 288.36774417078726, + 1090.0668806742908, + 32.88932845445018 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 286.86774417078726, + 1087.4688044629374, + 32.88932845445018 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 285.36774417078726, + 1084.870728251584, + 32.88932845445018 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 283.86774417078726, + 1082.2726520402307, + 32.88932845445018 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 282.36774417078726, + 1079.6745758288773, + 32.88932845445018 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 280.86774417078726, + 1077.076499617524, + 32.88932845445018 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 279.36774417078726, + 1074.4784234061706, + 32.88932845445018 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 277.86774417078726, + 1071.8803471948172, + 32.88932845445018 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 276.36774417078726, + 1069.2822709834638, + 32.88932845445018 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 274.86774417078726, + 1066.6841947721105, + 32.88932845445018 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 273.36774417078726, + 1064.086118560757, + 32.88932845445018 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 271.86774417078726, + 1061.4880423494037, + 32.88932845445018 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 270.36774417078726, + 1058.8899661380503, + 32.88932845445018 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 268.86774417078726, + 1056.291889926697, + 32.88932845445018 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 267.36774417078726, + 1053.6938137153436, + 32.88932845445018 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 265.86774417078726, + 1051.0957375039902, + 32.88932845445018 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 264.36774417078726, + 1048.4976612926368, + 32.88932845445018 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 256.0, + 1020.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_0-37-1_2016764524/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_0-37-1_2016764524/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8c2fa23202b470ec0a563774025899c4b6792702 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_0-37-1_2016764524/pose.jsonl @@ -0,0 +1,548 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1086.6105256475023, + -665.7128200664695, + 34.721471138131704 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1083.6105256475023, + -665.7128200664695, + 34.721471138131704 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1080.6105256475023, + -665.7128200664695, + 34.721471138131704 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1077.6105256475023, + -665.7128200664695, + 34.721471138131704 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1074.6105256475023, + -665.7128200664695, + 34.721471138131704 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1071.6105256475023, + -665.7128200664695, + 34.721471138131704 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1068.6105256475023, + -665.7128200664695, + 34.721471138131704 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1065.6105256475023, + -665.7128200664695, + 34.721471138131704 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1062.6105256475023, + -665.7128200664695, + 34.721471138131704 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1059.6105256475023, + -665.7128200664695, + 34.721471138131704 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1056.6105256475023, + -665.7128200664695, + 34.721471138131704 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1053.6105256475023, + -665.7128200664695, + 34.721471138131704 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1050.6105256475023, + -665.7128200664695, + 34.721471138131704 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1047.6105256475023, + -665.7128200664695, + 34.721471138131704 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1044.6105256475023, + -665.7128200664695, + 34.721471138131704 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1041.6105256475023, + -665.7128200664695, + 34.721471138131704 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1038.6105256475023, + -665.7128200664695, + 34.721471138131704 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1035.6105256475023, + -665.7128200664695, + 34.721471138131704 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1032.6105256475023, + -665.7128200664695, + 34.721471138131704 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1029.6105256475023, + -665.7128200664695, + 34.721471138131704 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1026.6105256475023, + -665.7128200664695, + 34.721471138131704 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1023.6105256475023, + -665.7128200664695, + 34.721471138131704 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1020.6105256475023, + -665.7128200664695, + 34.721471138131704 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1017.6105256475023, + -665.7128200664695, + 34.721471138131704 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1014.6105256475023, + -665.7128200664695, + 34.721471138131704 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1011.6105256475023, + -665.7128200664695, + 34.721471138131704 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1008.6105256475023, + -665.7128200664695, + 34.721471138131704 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1005.6105256475023, + -665.7128200664695, + 34.721471138131704 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1002.6105256475023, + -665.7128200664695, + 34.721471138131704 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 999.6105256475023, + -665.7128200664695, + 34.721471138131704 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 996.6105256475023, + -665.7128200664695, + 34.721471138131704 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 993.6105256475023, + -665.7128200664695, + 34.721471138131704 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 990.6105256475023, + -665.7128200664695, + 34.721471138131704 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 987.6105256475023, + -665.7128200664695, + 34.721471138131704 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 984.6105256475023, + -665.7128200664695, + 34.721471138131704 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 981.6105256475023, + -665.7128200664695, + 34.721471138131704 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 978.6105256475023, + -665.7128200664695, + 34.721471138131704 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 975.6105256475023, + -665.7128200664695, + 34.721471138131704 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 972.6105256475023, + -665.7128200664695, + 34.721471138131704 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 969.6105256475023, + -665.7128200664695, + 34.721471138131704 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 966.6105256475023, + -665.7128200664695, + 34.721471138131704 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 920.0, + -668.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_0-4-54_820697697/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_0-4-54_820697697/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..861233e0709269ee76c368d8f3730a0f33465764 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_0-4-54_820697697/pose.jsonl @@ -0,0 +1,262 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -817.0940098041342, + 1752.8490306579872, + 33.90364870669484 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -815.5940098041342, + 1755.4471068693406, + 33.90364870669484 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -814.0940098041342, + 1758.045183080694, + 33.90364870669484 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -812.5940098041342, + 1760.6432592920473, + 33.90364870669484 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -811.0940098041342, + 1763.2413355034007, + 33.90364870669484 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -809.5940098041342, + 1765.839411714754, + 33.90364870669484 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -808.0940098041342, + 1768.4374879261075, + 33.90364870669484 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -806.5940098041342, + 1771.0355641374608, + 33.90364870669484 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -805.0940098041342, + 1773.6336403488142, + 33.90364870669484 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -803.5940098041342, + 1776.2317165601676, + 33.90364870669484 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -802.0940098041342, + 1778.829792771521, + 33.90364870669484 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -800.5940098041342, + 1781.4278689828743, + 33.90364870669484 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -800.5940098041342, + 1781.4278689828743, + 33.90364870669484 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -800.5940098041342, + 1784.4278689828743, + 33.90364870669484 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -800.5940098041342, + 1787.4278689828743, + 33.90364870669484 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -800.5940098041342, + 1790.4278689828743, + 33.90364870669484 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -800.5940098041342, + 1793.4278689828743, + 33.90364870669484 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -800.5940098041342, + 1796.4278689828743, + 33.90364870669484 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -800.5940098041342, + 1799.4278689828743, + 33.90364870669484 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -768.0, + 1896.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_0-56-15_1051858969/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_0-56-15_1051858969/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7fff4c5c6cf79441d3ea24961292937f045ea2a8 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_0-56-15_1051858969/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1529.3776488860121, + -552.7621051278204, + 39.0797082056981 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1526.3776488860121, + -552.7621051278204, + 39.0797082056981 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1523.3776488860121, + -552.7621051278204, + 39.0797082056981 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1520.3776488860121, + -552.7621051278204, + 39.0797082056981 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1517.3776488860121, + -552.7621051278204, + 39.0797082056981 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1514.3776488860121, + -552.7621051278204, + 39.0797082056981 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1511.3776488860121, + -552.7621051278204, + 39.0797082056981 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1508.3776488860121, + -552.7621051278204, + 39.0797082056981 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1505.3776488860121, + -552.7621051278204, + 39.0797082056981 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1502.3776488860121, + -552.7621051278204, + 39.0797082056981 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1499.3776488860121, + -552.7621051278204, + 39.0797082056981 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1496.3776488860121, + -552.7621051278204, + 39.0797082056981 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1493.3776488860121, + -552.7621051278204, + 39.0797082056981 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1490.3776488860121, + -552.7621051278204, + 39.0797082056981 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1487.3776488860121, + -552.7621051278204, + 39.0797082056981 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1484.3776488860121, + -552.7621051278204, + 39.0797082056981 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1481.3776488860121, + -552.7621051278204, + 39.0797082056981 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1478.3776488860121, + -552.7621051278204, + 39.0797082056981 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1475.3776488860121, + -552.7621051278204, + 39.0797082056981 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1472.3776488860121, + -552.7621051278204, + 39.0797082056981 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1469.3776488860121, + -552.7621051278204, + 39.0797082056981 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1466.3776488860121, + -552.7621051278204, + 39.0797082056981 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1466.3776488860121, + -552.7621051278204, + 39.0797082056981 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1463.7795726746588, + -551.2621051278204, + 39.0797082056981 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1461.1814964633054, + -549.7621051278204, + 39.0797082056981 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1458.583420251952, + -548.2621051278204, + 39.0797082056981 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1455.9853440405986, + -546.7621051278204, + 39.0797082056981 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1453.3872678292453, + -545.2621051278204, + 39.0797082056981 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1450.789191617892, + -543.7621051278204, + 39.0797082056981 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1448.1911154065385, + -542.2621051278204, + 39.0797082056981 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1445.5930391951852, + -540.7621051278204, + 39.0797082056981 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1442.9949629838318, + -539.2621051278204, + 39.0797082056981 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1440.3968867724784, + -537.7621051278204, + 39.0797082056981 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1437.798810561125, + -536.2621051278204, + 39.0797082056981 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1435.2007343497717, + -534.7621051278204, + 39.0797082056981 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1432.6026581384183, + -533.2621051278204, + 39.0797082056981 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1430.004581927065, + -531.7621051278204, + 39.0797082056981 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1427.4065057157115, + -530.2621051278204, + 39.0797082056981 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1424.8084295043582, + -528.7621051278204, + 39.0797082056981 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1422.2103532930048, + -527.2621051278204, + 39.0797082056981 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1419.6122770816514, + -525.7621051278204, + 39.0797082056981 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1417.014200870298, + -524.2621051278204, + 39.0797082056981 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1414.4161246589447, + -522.7621051278204, + 39.0797082056981 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1411.8180484475913, + -521.2621051278204, + 39.0797082056981 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1409.219972236238, + -519.7621051278204, + 39.0797082056981 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1406.6218960248846, + -518.2621051278204, + 39.0797082056981 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1404.0238198135312, + -516.7621051278204, + 39.0797082056981 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1404.0238198135312, + -516.7621051278204, + 39.0797082056981 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1402.5238198135312, + -514.164028916467, + 39.0797082056981 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1401.0238198135312, + -511.5659527051137, + 39.0797082056981 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1368.0, + -500.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_1-23-47_1645933681/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_1-23-47_1645933681/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ac4de8ccf3737d706d7b5da864e28d63d2a2bdc4 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_1-23-47_1645933681/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1552.2703182213402, + 466.07420337446575, + 39.21819237060213 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1555.2703182213402, + 466.07420337446575, + 39.21819237060213 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1558.2703182213402, + 466.07420337446575, + 39.21819237060213 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1561.2703182213402, + 466.07420337446575, + 39.21819237060213 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1564.2703182213402, + 466.07420337446575, + 39.21819237060213 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1567.2703182213402, + 466.07420337446575, + 39.21819237060213 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1570.2703182213402, + 466.07420337446575, + 39.21819237060213 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1573.2703182213402, + 466.07420337446575, + 39.21819237060213 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1576.2703182213402, + 466.07420337446575, + 39.21819237060213 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1579.2703182213402, + 466.07420337446575, + 39.21819237060213 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1582.2703182213402, + 466.07420337446575, + 39.21819237060213 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1585.2703182213402, + 466.07420337446575, + 39.21819237060213 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1588.2703182213402, + 466.07420337446575, + 39.21819237060213 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1591.2703182213402, + 466.07420337446575, + 39.21819237060213 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1594.2703182213402, + 466.07420337446575, + 39.21819237060213 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1597.2703182213402, + 466.07420337446575, + 39.21819237060213 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1600.2703182213402, + 466.07420337446575, + 39.21819237060213 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1603.2703182213402, + 466.07420337446575, + 39.21819237060213 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1606.2703182213402, + 466.07420337446575, + 39.21819237060213 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1609.2703182213402, + 466.07420337446575, + 39.21819237060213 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1612.2703182213402, + 466.07420337446575, + 39.21819237060213 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1615.2703182213402, + 466.07420337446575, + 39.21819237060213 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1618.2703182213402, + 466.07420337446575, + 39.21819237060213 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1621.2703182213402, + 466.07420337446575, + 39.21819237060213 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1624.2703182213402, + 466.07420337446575, + 39.21819237060213 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1627.2703182213402, + 466.07420337446575, + 39.21819237060213 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1630.2703182213402, + 466.07420337446575, + 39.21819237060213 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1633.2703182213402, + 466.07420337446575, + 39.21819237060213 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1636.2703182213402, + 466.07420337446575, + 39.21819237060213 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1639.2703182213402, + 466.07420337446575, + 39.21819237060213 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1642.2703182213402, + 466.07420337446575, + 39.21819237060213 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1645.2703182213402, + 466.07420337446575, + 39.21819237060213 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1648.2703182213402, + 466.07420337446575, + 39.21819237060213 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1651.2703182213402, + 466.07420337446575, + 39.21819237060213 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1654.2703182213402, + 466.07420337446575, + 39.21819237060213 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1657.2703182213402, + 466.07420337446575, + 39.21819237060213 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1660.2703182213402, + 466.07420337446575, + 39.21819237060213 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1660.2703182213402, + 466.07420337446575, + 39.21819237060213 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1662.8683944326935, + 464.57420337446575, + 39.21819237060213 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1665.466470644047, + 463.07420337446575, + 39.21819237060213 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1704.0, + 460.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_10-1-42_703955951/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_10-1-42_703955951/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e22b4e6407be352d232e2284ff7bb49e0bacdb65 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_10-1-42_703955951/pose.jsonl @@ -0,0 +1,808 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1026.8910392692057, + -777.7329197202773, + 36.31534892369122 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1029.8910392692057, + -777.7329197202773, + 36.31534892369122 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1032.8910392692057, + -777.7329197202773, + 36.31534892369122 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1032.8910392692057, + -777.7329197202773, + 36.31534892369122 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1032.8910392692057, + -777.7329197202773, + 36.31534892369122 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1032.8910392692057, + -777.7329197202773, + 36.31534892369122 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1032.8910392692057, + -780.7329197202773, + 36.31534892369122 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1032.8910392692057, + -780.7329197202773, + 36.31534892369122 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1032.8910392692057, + -780.7329197202773, + 36.31534892369122 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1035.4891154805591, + -782.2329197202773, + 36.31534892369122 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1035.4891154805591, + -782.2329197202773, + 36.31534892369122 + ], + "type": "go straight", + "value": 3, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1038.4891154805591, + -782.2329197202773, + 36.31534892369122 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1041.4891154805591, + -782.2329197202773, + 36.31534892369122 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1044.4891154805591, + -782.2329197202773, + 36.31534892369122 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1047.4891154805591, + -782.2329197202773, + 36.31534892369122 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1050.4891154805591, + -782.2329197202773, + 36.31534892369122 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1053.4891154805591, + -782.2329197202773, + 36.31534892369122 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1056.4891154805591, + -782.2329197202773, + 36.31534892369122 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1059.4891154805591, + -782.2329197202773, + 36.31534892369122 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1062.4891154805591, + -782.2329197202773, + 36.31534892369122 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1065.4891154805591, + -782.2329197202773, + 36.31534892369122 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1068.4891154805591, + -782.2329197202773, + 36.31534892369122 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1071.4891154805591, + -782.2329197202773, + 36.31534892369122 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1074.4891154805591, + -782.2329197202773, + 36.31534892369122 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1077.4891154805591, + -782.2329197202773, + 36.31534892369122 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1080.4891154805591, + -782.2329197202773, + 36.31534892369122 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1083.4891154805591, + -782.2329197202773, + 36.31534892369122 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1086.4891154805591, + -782.2329197202773, + 36.31534892369122 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1089.4891154805591, + -782.2329197202773, + 36.31534892369122 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1089.4891154805591, + -782.2329197202773, + 36.31534892369122 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1092.0871916919125, + -780.7329197202773, + 36.31534892369122 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1094.6852679032659, + -779.2329197202773, + 36.31534892369122 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1097.2833441146192, + -777.7329197202773, + 36.31534892369122 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1099.8814203259726, + -776.2329197202773, + 36.31534892369122 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1102.479496537326, + -774.7329197202773, + 36.31534892369122 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1105.0775727486794, + -773.2329197202773, + 36.31534892369122 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1107.6756489600327, + -771.7329197202773, + 36.31534892369122 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1110.273725171386, + -770.2329197202773, + 36.31534892369122 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1112.8718013827395, + -768.7329197202773, + 36.31534892369122 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1115.4698775940928, + -767.2329197202773, + 36.31534892369122 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1118.0679538054462, + -765.7329197202773, + 36.31534892369122 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1120.6660300167996, + -764.2329197202773, + 36.31534892369122 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1123.264106228153, + -762.7329197202773, + 36.31534892369122 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1125.8621824395063, + -761.2329197202773, + 36.31534892369122 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1128.4602586508597, + -759.7329197202773, + 36.31534892369122 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1131.058334862213, + -758.2329197202773, + 36.31534892369122 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1133.6564110735665, + -756.7329197202773, + 36.31534892369122 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1136.2544872849198, + -755.2329197202773, + 36.31534892369122 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1138.8525634962732, + -753.7329197202773, + 36.31534892369122 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1141.4506397076266, + -752.2329197202773, + 36.31534892369122 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1144.04871591898, + -750.7329197202773, + 36.31534892369122 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1146.6467921303333, + -749.2329197202773, + 36.31534892369122 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1149.2448683416867, + -747.7329197202773, + 36.31534892369122 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1151.84294455304, + -746.2329197202773, + 36.31534892369122 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1154.4410207643934, + -744.7329197202773, + 36.31534892369122 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1157.0390969757468, + -743.2329197202773, + 36.31534892369122 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1159.6371731871002, + -741.7329197202773, + 36.31534892369122 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1162.2352493984536, + -740.2329197202773, + 36.31534892369122 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1164.833325609807, + -738.7329197202773, + 36.31534892369122 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1167.4314018211603, + -737.2329197202773, + 36.31534892369122 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1170.0294780325137, + -735.7329197202773, + 36.31534892369122 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1192.0, + -728.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_10-21-5_682736626/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_10-21-5_682736626/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..95cbb114055352518c9711d7ea88825960540c78 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_10-21-5_682736626/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1073.6532745207426, + -26.16045668603269, + 32.621234714511644 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1073.6532745207426, + -29.16045668603269, + 32.621234714511644 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1073.6532745207426, + -32.16045668603269, + 32.621234714511644 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1073.6532745207426, + -35.16045668603269, + 32.621234714511644 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1073.6532745207426, + -38.16045668603269, + 32.621234714511644 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1073.6532745207426, + -41.16045668603269, + 32.621234714511644 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1073.6532745207426, + -44.16045668603269, + 32.621234714511644 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1073.6532745207426, + -47.16045668603269, + 32.621234714511644 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1073.6532745207426, + -50.16045668603269, + 32.621234714511644 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1073.6532745207426, + -53.16045668603269, + 32.621234714511644 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1073.6532745207426, + -56.16045668603269, + 32.621234714511644 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1073.6532745207426, + -59.16045668603269, + 32.621234714511644 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1073.6532745207426, + -62.16045668603269, + 32.621234714511644 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1073.6532745207426, + -65.16045668603269, + 32.621234714511644 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1073.6532745207426, + -68.16045668603269, + 32.621234714511644 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1073.6532745207426, + -71.16045668603269, + 32.621234714511644 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1073.6532745207426, + -74.16045668603269, + 32.621234714511644 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1073.6532745207426, + -77.16045668603269, + 32.621234714511644 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1073.6532745207426, + -80.16045668603269, + 32.621234714511644 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1073.6532745207426, + -83.16045668603269, + 32.621234714511644 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1073.6532745207426, + -86.16045668603269, + 32.621234714511644 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1073.6532745207426, + -89.16045668603269, + 32.621234714511644 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1073.6532745207426, + -92.16045668603269, + 32.621234714511644 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1073.6532745207426, + -95.16045668603269, + 32.621234714511644 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1073.6532745207426, + -98.16045668603269, + 32.621234714511644 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1073.6532745207426, + -101.16045668603269, + 32.621234714511644 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1073.6532745207426, + -104.16045668603269, + 32.621234714511644 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1073.6532745207426, + -107.16045668603269, + 32.621234714511644 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1073.6532745207426, + -110.16045668603269, + 32.621234714511644 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1073.6532745207426, + -110.16045668603269, + 32.621234714511644 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1075.1532745207426, + -112.758532897386, + 32.621234714511644 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1076.6532745207426, + -115.35660910873932, + 32.621234714511644 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1078.1532745207426, + -117.95468532009264, + 32.621234714511644 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1079.6532745207426, + -120.55276153144595, + 32.621234714511644 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1081.1532745207426, + -123.15083774279927, + 32.621234714511644 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1082.6532745207426, + -125.74891395415258, + 32.621234714511644 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1084.1532745207426, + -128.3469901655059, + 32.621234714511644 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1085.6532745207426, + -130.94506637685922, + 32.621234714511644 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1087.1532745207426, + -133.54314258821253, + 32.621234714511644 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1088.6532745207426, + -136.14121879956585, + 32.621234714511644 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1090.1532745207426, + -138.73929501091916, + 32.621234714511644 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1091.6532745207426, + -141.33737122227248, + 32.621234714511644 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1093.1532745207426, + -143.9354474336258, + 32.621234714511644 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1094.6532745207426, + -146.5335236449791, + 32.621234714511644 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1096.1532745207426, + -149.13159985633243, + 32.621234714511644 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1097.6532745207426, + -151.72967606768574, + 32.621234714511644 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1099.1532745207426, + -154.32775227903906, + 32.621234714511644 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1100.6532745207426, + -156.92582849039238, + 32.621234714511644 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1102.1532745207426, + -159.5239047017457, + 32.621234714511644 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1103.6532745207426, + -162.121980913099, + 32.621234714511644 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -1105.1532745207426, + -164.72005712445232, + 32.621234714511644 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -1105.1532745207426, + -164.72005712445232, + 32.621234714511644 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -1105.1532745207426, + -167.72005712445232, + 32.621234714511644 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -1105.1532745207426, + -170.72005712445232, + 32.621234714511644 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1112.0, + -200.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_10-54-6_495375861/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_10-54-6_495375861/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fa9b058924e86ab438f7dde66713cb0e3be1dd6a --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_10-54-6_495375861/pose.jsonl @@ -0,0 +1,769 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1599.444801820137, + -697.323644585059, + 34.102759069465264 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1600.944801820137, + -699.9217207964123, + 34.102759069465264 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1602.444801820137, + -702.5197970077656, + 34.102759069465264 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1602.444801820137, + -702.5197970077656, + 34.102759069465264 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1605.0428780314903, + -704.0197970077656, + 34.102759069465264 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1607.6409542428437, + -705.5197970077656, + 34.102759069465264 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1610.239030454197, + -707.0197970077656, + 34.102759069465264 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1612.8371066655504, + -708.5197970077656, + 34.102759069465264 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1615.4351828769038, + -710.0197970077656, + 34.102759069465264 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1615.4351828769038, + -710.0197970077656, + 34.102759069465264 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1618.4351828769038, + -710.0197970077656, + 34.102759069465264 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1621.4351828769038, + -710.0197970077656, + 34.102759069465264 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1624.4351828769038, + -710.0197970077656, + 34.102759069465264 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1627.4351828769038, + -710.0197970077656, + 34.102759069465264 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1630.4351828769038, + -710.0197970077656, + 34.102759069465264 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1633.4351828769038, + -710.0197970077656, + 34.102759069465264 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1636.4351828769038, + -710.0197970077656, + 34.102759069465264 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1639.4351828769038, + -710.0197970077656, + 34.102759069465264 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1642.4351828769038, + -710.0197970077656, + 34.102759069465264 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1645.4351828769038, + -710.0197970077656, + 34.102759069465264 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1645.4351828769038, + -710.0197970077656, + 34.102759069465264 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1648.0332590882572, + -711.5197970077656, + 34.102759069465264 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1650.6313352996106, + -713.0197970077656, + 34.102759069465264 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1653.229411510964, + -714.5197970077656, + 34.102759069465264 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1655.8274877223173, + -716.0197970077656, + 34.102759069465264 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1658.4255639336707, + -717.5197970077656, + 34.102759069465264 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1661.023640145024, + -719.0197970077656, + 34.102759069465264 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1663.6217163563774, + -720.5197970077656, + 34.102759069465264 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1666.2197925677308, + -722.0197970077656, + 34.102759069465264 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1668.8178687790842, + -723.5197970077656, + 34.102759069465264 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1671.4159449904375, + -725.0197970077656, + 34.102759069465264 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1674.014021201791, + -726.5197970077656, + 34.102759069465264 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1676.6120974131443, + -728.0197970077656, + 34.102759069465264 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1679.2101736244977, + -729.5197970077656, + 34.102759069465264 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1681.808249835851, + -731.0197970077656, + 34.102759069465264 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1684.4063260472044, + -732.5197970077656, + 34.102759069465264 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1687.0044022585578, + -734.0197970077656, + 34.102759069465264 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1689.6024784699111, + -735.5197970077656, + 34.102759069465264 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1692.2005546812645, + -737.0197970077656, + 34.102759069465264 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1694.798630892618, + -738.5197970077656, + 34.102759069465264 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1697.3967071039713, + -740.0197970077656, + 34.102759069465264 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1699.9947833153246, + -741.5197970077656, + 34.102759069465264 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1702.592859526678, + -743.0197970077656, + 34.102759069465264 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1705.1909357380314, + -744.5197970077656, + 34.102759069465264 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1705.1909357380314, + -744.5197970077656, + 34.102759069465264 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1706.6909357380314, + -747.117873219119, + 34.102759069465264 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1708.1909357380314, + -749.7159494304724, + 34.102759069465264 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1709.6909357380314, + -752.3140256418258, + 34.102759069465264 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1711.1909357380314, + -754.9121018531791, + 34.102759069465264 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1712.6909357380314, + -757.5101780645325, + 34.102759069465264 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -1714.1909357380314, + -760.1082542758859, + 34.102759069465264 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -1715.6909357380314, + -762.7063304872393, + 34.102759069465264 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -1717.1909357380314, + -765.3044066985926, + 34.102759069465264 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -1717.1909357380314, + -765.3044066985926, + 34.102759069465264 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -1719.7890119493848, + -766.8044066985926, + 34.102759069465264 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -1722.3870881607381, + -768.3044066985926, + 34.102759069465264 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -1724.9851643720915, + -769.8044066985926, + 34.102759069465264 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -1727.5832405834449, + -771.3044066985926, + 34.102759069465264 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1752.0, + -788.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_11-21-14_1684259683/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_11-21-14_1684259683/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..61aa6f45f7d20a52bbd655a103610d5546dd7ba5 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_11-21-14_1684259683/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 970.887545049795, + -1513.4198806823372, + 39.18924968343056 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 972.387545049795, + -1516.0179568936906, + 39.18924968343056 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 973.887545049795, + -1518.616033105044, + 39.18924968343056 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 975.387545049795, + -1521.2141093163973, + 39.18924968343056 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 976.887545049795, + -1523.8121855277507, + 39.18924968343056 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 978.387545049795, + -1526.410261739104, + 39.18924968343056 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 979.887545049795, + -1529.0083379504574, + 39.18924968343056 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 981.387545049795, + -1531.6064141618108, + 39.18924968343056 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 982.887545049795, + -1534.2044903731642, + 39.18924968343056 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 984.387545049795, + -1536.8025665845175, + 39.18924968343056 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 985.887545049795, + -1539.400642795871, + 39.18924968343056 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 987.387545049795, + -1541.9987190072243, + 39.18924968343056 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 988.887545049795, + -1544.5967952185777, + 39.18924968343056 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 990.387545049795, + -1547.194871429931, + 39.18924968343056 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 991.887545049795, + -1549.7929476412844, + 39.18924968343056 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 993.387545049795, + -1552.3910238526378, + 39.18924968343056 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 994.887545049795, + -1554.9891000639911, + 39.18924968343056 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 996.387545049795, + -1557.5871762753445, + 39.18924968343056 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 997.887545049795, + -1560.185252486698, + 39.18924968343056 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 999.387545049795, + -1562.7833286980513, + 39.18924968343056 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1000.887545049795, + -1565.3814049094046, + 39.18924968343056 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1002.387545049795, + -1567.979481120758, + 39.18924968343056 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1003.887545049795, + -1570.5775573321114, + 39.18924968343056 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1005.387545049795, + -1573.1756335434648, + 39.18924968343056 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1006.887545049795, + -1575.7737097548181, + 39.18924968343056 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1008.387545049795, + -1578.3717859661715, + 39.18924968343056 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1009.887545049795, + -1580.9698621775249, + 39.18924968343056 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1011.387545049795, + -1583.5679383888782, + 39.18924968343056 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1011.387545049795, + -1583.5679383888782, + 39.18924968343056 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1013.9856212611483, + -1585.0679383888782, + 39.18924968343056 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1016.5836974725016, + -1586.5679383888782, + 39.18924968343056 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1019.181773683855, + -1588.0679383888782, + 39.18924968343056 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1021.7798498952084, + -1589.5679383888782, + 39.18924968343056 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1024.3779261065617, + -1591.0679383888782, + 39.18924968343056 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1026.9760023179151, + -1592.5679383888782, + 39.18924968343056 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1029.5740785292685, + -1594.0679383888782, + 39.18924968343056 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1032.1721547406219, + -1595.5679383888782, + 39.18924968343056 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1034.7702309519752, + -1597.0679383888782, + 39.18924968343056 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1037.3683071633286, + -1598.5679383888782, + 39.18924968343056 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1039.966383374682, + -1600.0679383888782, + 39.18924968343056 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1042.5644595860354, + -1601.5679383888782, + 39.18924968343056 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1045.1625357973887, + -1603.0679383888782, + 39.18924968343056 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1047.760612008742, + -1604.5679383888782, + 39.18924968343056 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1050.3586882200955, + -1606.0679383888782, + 39.18924968343056 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1052.9567644314488, + -1607.5679383888782, + 39.18924968343056 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1055.5548406428022, + -1609.0679383888782, + 39.18924968343056 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1058.1529168541556, + -1610.5679383888782, + 39.18924968343056 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1060.750993065509, + -1612.0679383888782, + 39.18924968343056 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1060.750993065509, + -1612.0679383888782, + 39.18924968343056 + ], + "type": "go straight", + "value": 3, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1063.750993065509, + -1612.0679383888782, + 39.18924968343056 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1066.750993065509, + -1612.0679383888782, + 39.18924968343056 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1069.750993065509, + -1612.0679383888782, + 39.18924968343056 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1072.750993065509, + -1612.0679383888782, + 39.18924968343056 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1075.750993065509, + -1612.0679383888782, + 39.18924968343056 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1078.750993065509, + -1612.0679383888782, + 39.18924968343056 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1100.0, + -1628.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_11-32-58_1279820114/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_11-32-58_1279820114/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..626e7ea8fec3b27f719d625d4f97dc627b3e9d76 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_11-32-58_1279820114/pose.jsonl @@ -0,0 +1,353 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1508.061061300002, + 1728.6356257938355, + 34.53704238744043 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1509.561061300002, + 1731.233702005189, + 34.53704238744043 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1511.061061300002, + 1733.8317782165423, + 34.53704238744043 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1512.561061300002, + 1736.4298544278956, + 34.53704238744043 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1514.061061300002, + 1739.027930639249, + 34.53704238744043 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1515.561061300002, + 1741.6260068506024, + 34.53704238744043 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1517.061061300002, + 1744.2240830619558, + 34.53704238744043 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1518.561061300002, + 1746.8221592733091, + 34.53704238744043 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1520.061061300002, + 1749.4202354846625, + 34.53704238744043 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1520.061061300002, + 1749.4202354846625, + 34.53704238744043 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1520.061061300002, + 1752.4202354846625, + 34.53704238744043 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1520.061061300002, + 1755.4202354846625, + 34.53704238744043 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1520.061061300002, + 1758.4202354846625, + 34.53704238744043 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1520.061061300002, + 1761.4202354846625, + 34.53704238744043 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1520.061061300002, + 1764.4202354846625, + 34.53704238744043 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1520.061061300002, + 1767.4202354846625, + 34.53704238744043 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1520.061061300002, + 1770.4202354846625, + 34.53704238744043 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1520.061061300002, + 1773.4202354846625, + 34.53704238744043 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1520.061061300002, + 1776.4202354846625, + 34.53704238744043 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1520.061061300002, + 1779.4202354846625, + 34.53704238744043 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1520.061061300002, + 1782.4202354846625, + 34.53704238744043 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1520.061061300002, + 1785.4202354846625, + 34.53704238744043 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1520.061061300002, + 1788.4202354846625, + 34.53704238744043 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1520.061061300002, + 1791.4202354846625, + 34.53704238744043 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1520.061061300002, + 1794.4202354846625, + 34.53704238744043 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1520.061061300002, + 1797.4202354846625, + 34.53704238744043 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1536.0, + 1884.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_12-16-15_1562887660/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_12-16-15_1562887660/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ffd572f21bf5b1b60aec956a8513b0031e1e731b --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_12-16-15_1562887660/pose.jsonl @@ -0,0 +1,574 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 100.46937209665222, + -332.6075257784506, + 30.676605581320747 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 97.8712958852989, + -331.1075257784506, + 30.676605581320747 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 95.27321967394559, + -329.6075257784506, + 30.676605581320747 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 92.67514346259227, + -328.1075257784506, + 30.676605581320747 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 90.07706725123896, + -326.6075257784506, + 30.676605581320747 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 87.47899103988564, + -325.1075257784506, + 30.676605581320747 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 84.88091482853233, + -323.6075257784506, + 30.676605581320747 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 82.28283861717901, + -322.1075257784506, + 30.676605581320747 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 79.6847624058257, + -320.6075257784506, + 30.676605581320747 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 77.08668619447238, + -319.1075257784506, + 30.676605581320747 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 74.48860998311906, + -317.6075257784506, + 30.676605581320747 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 71.89053377176575, + -316.1075257784506, + 30.676605581320747 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 69.29245756041243, + -314.6075257784506, + 30.676605581320747 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 66.69438134905911, + -313.1075257784506, + 30.676605581320747 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 64.0963051377058, + -311.6075257784506, + 30.676605581320747 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 61.49822892635248, + -310.1075257784506, + 30.676605581320747 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 58.900152714999166, + -308.6075257784506, + 30.676605581320747 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 56.30207650364585, + -307.1075257784506, + 30.676605581320747 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 53.704000292292534, + -305.6075257784506, + 30.676605581320747 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 51.10592408093922, + -304.1075257784506, + 30.676605581320747 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 48.5078478695859, + -302.6075257784506, + 30.676605581320747 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 45.909771658232586, + -301.1075257784506, + 30.676605581320747 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 43.31169544687927, + -299.6075257784506, + 30.676605581320747 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 40.713619235525954, + -298.1075257784506, + 30.676605581320747 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 38.11554302417264, + -296.6075257784506, + 30.676605581320747 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 35.51746681281932, + -295.1075257784506, + 30.676605581320747 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 32.919390601466006, + -293.6075257784506, + 30.676605581320747 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 30.32131439011269, + -292.1075257784506, + 30.676605581320747 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 27.723238178759374, + -290.6075257784506, + 30.676605581320747 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 25.125161967406058, + -289.1075257784506, + 30.676605581320747 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 22.52708575605274, + -287.6075257784506, + 30.676605581320747 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 19.929009544699426, + -286.1075257784506, + 30.676605581320747 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 17.33093333334611, + -284.6075257784506, + 30.676605581320747 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 14.732857121992794, + -283.1075257784506, + 30.676605581320747 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 12.134780910639478, + -281.6075257784506, + 30.676605581320747 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 9.536704699286162, + -280.1075257784506, + 30.676605581320747 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 9.536704699286162, + -280.1075257784506, + 30.676605581320747 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 6.536704699286162, + -280.1075257784506, + 30.676605581320747 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 3.5367046992861617, + -280.1075257784506, + 30.676605581320747 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 0.5367046992861617, + -280.1075257784506, + 30.676605581320747 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -2.4632953007138383, + -280.1075257784506, + 30.676605581320747 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -5.463295300713838, + -280.1075257784506, + 30.676605581320747 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -8.463295300713838, + -280.1075257784506, + 30.676605581320747 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -44.0, + -264.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_12-27-13_242639747/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_12-27-13_242639747/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..762605f3f5549aa7a8fb9ca120d0105a3d1bb6f1 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_12-27-13_242639747/pose.jsonl @@ -0,0 +1,431 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1679.2614265348716, + -625.0643521890624, + 39.58312814617689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1680.7614265348716, + -627.6624284004158, + 39.58312814617689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1682.2614265348716, + -630.2605046117692, + 39.58312814617689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1683.7614265348716, + -632.8585808231226, + 39.58312814617689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1685.2614265348716, + -635.4566570344759, + 39.58312814617689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1686.7614265348716, + -638.0547332458293, + 39.58312814617689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1688.2614265348716, + -640.6528094571827, + 39.58312814617689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1689.7614265348716, + -643.2508856685361, + 39.58312814617689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1691.2614265348716, + -645.8489618798894, + 39.58312814617689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1692.7614265348716, + -648.4470380912428, + 39.58312814617689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1694.2614265348716, + -651.0451143025962, + 39.58312814617689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1695.7614265348716, + -653.6431905139495, + 39.58312814617689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1697.2614265348716, + -656.2412667253029, + 39.58312814617689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1698.7614265348716, + -658.8393429366563, + 39.58312814617689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1700.2614265348716, + -661.4374191480097, + 39.58312814617689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1701.7614265348716, + -664.035495359363, + 39.58312814617689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1703.2614265348716, + -666.6335715707164, + 39.58312814617689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1704.7614265348716, + -669.2316477820698, + 39.58312814617689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1706.2614265348716, + -671.8297239934232, + 39.58312814617689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1707.7614265348716, + -674.4278002047765, + 39.58312814617689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1709.2614265348716, + -677.0258764161299, + 39.58312814617689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1710.7614265348716, + -679.6239526274833, + 39.58312814617689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1712.2614265348716, + -682.2220288388366, + 39.58312814617689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1713.7614265348716, + -684.82010505019, + 39.58312814617689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1715.2614265348716, + -687.4181812615434, + 39.58312814617689 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1715.2614265348716, + -687.4181812615434, + 39.58312814617689 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1717.859502746225, + -688.9181812615434, + 39.58312814617689 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1720.4575789575783, + -690.4181812615434, + 39.58312814617689 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1723.0556551689317, + -691.9181812615434, + 39.58312814617689 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1725.653731380285, + -693.4181812615434, + 39.58312814617689 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1728.2518075916385, + -694.9181812615434, + 39.58312814617689 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1730.8498838029918, + -696.4181812615434, + 39.58312814617689 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1780.0, + -760.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_12-27-55_1579952366/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_12-27-55_1579952366/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8def52ca7e0a07c61421db3a9c0ddc07315ce7ec --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_12-27-55_1579952366/pose.jsonl @@ -0,0 +1,340 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1296.5049542957206, + 481.0612158541603, + 38.34002353480761 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1299.103030507074, + 479.5612158541603, + 38.34002353480761 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1301.7011067184274, + 478.0612158541603, + 38.34002353480761 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1304.2991829297807, + 476.5612158541603, + 38.34002353480761 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1306.897259141134, + 475.0612158541603, + 38.34002353480761 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1309.4953353524875, + 473.5612158541603, + 38.34002353480761 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1312.0934115638408, + 472.0612158541603, + 38.34002353480761 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1314.6914877751942, + 470.5612158541603, + 38.34002353480761 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1314.6914877751942, + 470.5612158541603, + 38.34002353480761 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1316.1914877751942, + 467.963139642807, + 38.34002353480761 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1317.6914877751942, + 465.3650634314537, + 38.34002353480761 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1319.1914877751942, + 462.76698722010036, + 38.34002353480761 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1320.6914877751942, + 460.16891100874705, + 38.34002353480761 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1320.6914877751942, + 460.16891100874705, + 38.34002353480761 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1320.6914877751942, + 460.16891100874705, + 38.34002353480761 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1323.6914877751942, + 460.16891100874705, + 38.34002353480761 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1326.6914877751942, + 460.16891100874705, + 38.34002353480761 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1329.6914877751942, + 460.16891100874705, + 38.34002353480761 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1332.6914877751942, + 460.16891100874705, + 38.34002353480761 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1335.6914877751942, + 460.16891100874705, + 38.34002353480761 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1335.6914877751942, + 460.16891100874705, + 38.34002353480761 + ], + "type": "turn left", + "value": 30, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1335.6914877751942, + 460.16891100874705, + 38.34002353480761 + ], + "type": "go straight", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1337.1914877751942, + 457.57083479739373, + 38.34002353480761 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1338.6914877751942, + 454.9727585860404, + 38.34002353480761 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1340.1914877751942, + 452.3746823746871, + 38.34002353480761 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1432.0, + 396.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_12-4-18_582972798/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_12-4-18_582972798/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cbcfb7bfff2f91c59e18db1e71d11c3c20a3a0a1 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_12-4-18_582972798/pose.jsonl @@ -0,0 +1,509 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1499.2150130187147, + -593.4283002532757, + 33.06107032125717 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1496.6169368073613, + -594.9283002532757, + 33.06107032125717 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1494.018860596008, + -596.4283002532757, + 33.06107032125717 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1491.4207843846546, + -597.9283002532757, + 33.06107032125717 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1488.8227081733012, + -599.4283002532757, + 33.06107032125717 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1486.2246319619478, + -600.9283002532757, + 33.06107032125717 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1483.6265557505944, + -602.4283002532757, + 33.06107032125717 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1481.028479539241, + -603.9283002532757, + 33.06107032125717 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1478.4304033278877, + -605.4283002532757, + 33.06107032125717 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1475.8323271165343, + -606.9283002532757, + 33.06107032125717 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1473.234250905181, + -608.4283002532757, + 33.06107032125717 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1470.6361746938276, + -609.9283002532757, + 33.06107032125717 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1468.0380984824742, + -611.4283002532757, + 33.06107032125717 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1465.4400222711208, + -612.9283002532757, + 33.06107032125717 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1462.8419460597675, + -614.4283002532757, + 33.06107032125717 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1460.243869848414, + -615.9283002532757, + 33.06107032125717 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1457.6457936370607, + -617.4283002532757, + 33.06107032125717 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1455.0477174257073, + -618.9283002532757, + 33.06107032125717 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1452.449641214354, + -620.4283002532757, + 33.06107032125717 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1449.8515650030006, + -621.9283002532757, + 33.06107032125717 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1447.2534887916472, + -623.4283002532757, + 33.06107032125717 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1444.6554125802938, + -624.9283002532757, + 33.06107032125717 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1442.0573363689405, + -626.4283002532757, + 33.06107032125717 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1439.459260157587, + -627.9283002532757, + 33.06107032125717 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1439.459260157587, + -627.9283002532757, + 33.06107032125717 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1436.459260157587, + -627.9283002532757, + 33.06107032125717 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1433.459260157587, + -627.9283002532757, + 33.06107032125717 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1430.459260157587, + -627.9283002532757, + 33.06107032125717 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1427.459260157587, + -627.9283002532757, + 33.06107032125717 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1424.459260157587, + -627.9283002532757, + 33.06107032125717 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1421.459260157587, + -627.9283002532757, + 33.06107032125717 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1418.459260157587, + -627.9283002532757, + 33.06107032125717 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1415.459260157587, + -627.9283002532757, + 33.06107032125717 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1412.459260157587, + -627.9283002532757, + 33.06107032125717 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1409.459260157587, + -627.9283002532757, + 33.06107032125717 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1406.459260157587, + -627.9283002532757, + 33.06107032125717 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1403.459260157587, + -627.9283002532757, + 33.06107032125717 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1400.459260157587, + -627.9283002532757, + 33.06107032125717 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1348.0, + -644.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_12-40-16_216272000/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_12-40-16_216272000/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8902bb47cdf962dde70400ea0108246e50354dea --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_12-40-16_216272000/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 832.6616410953269, + -1631.0257414787723, + 38.92177571723825 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 831.1616410953269, + -1633.6238176901256, + 38.92177571723825 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 829.6616410953269, + -1636.221893901479, + 38.92177571723825 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 828.1616410953269, + -1638.8199701128324, + 38.92177571723825 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 826.6616410953269, + -1641.4180463241858, + 38.92177571723825 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 825.1616410953269, + -1644.0161225355391, + 38.92177571723825 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 823.6616410953269, + -1646.6141987468925, + 38.92177571723825 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 822.1616410953269, + -1649.2122749582459, + 38.92177571723825 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 820.6616410953269, + -1651.8103511695992, + 38.92177571723825 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 819.1616410953269, + -1654.4084273809526, + 38.92177571723825 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 817.6616410953269, + -1657.006503592306, + 38.92177571723825 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 816.1616410953269, + -1659.6045798036594, + 38.92177571723825 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 814.6616410953269, + -1662.2026560150127, + 38.92177571723825 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 813.1616410953269, + -1664.800732226366, + 38.92177571723825 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 811.6616410953269, + -1667.3988084377195, + 38.92177571723825 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 810.1616410953269, + -1669.9968846490729, + 38.92177571723825 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 808.6616410953269, + -1672.5949608604262, + 38.92177571723825 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 807.1616410953269, + -1675.1930370717796, + 38.92177571723825 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 805.6616410953269, + -1677.791113283133, + 38.92177571723825 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 804.1616410953269, + -1680.3891894944863, + 38.92177571723825 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 802.6616410953269, + -1682.9872657058397, + 38.92177571723825 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 801.1616410953269, + -1685.585341917193, + 38.92177571723825 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 799.6616410953269, + -1688.1834181285465, + 38.92177571723825 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 798.1616410953269, + -1690.7814943398998, + 38.92177571723825 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 796.6616410953269, + -1693.3795705512532, + 38.92177571723825 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 795.1616410953269, + -1695.9776467626066, + 38.92177571723825 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 793.6616410953269, + -1698.57572297396, + 38.92177571723825 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 792.1616410953269, + -1701.1737991853133, + 38.92177571723825 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 790.6616410953269, + -1703.7718753966667, + 38.92177571723825 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 789.1616410953269, + -1706.36995160802, + 38.92177571723825 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 787.6616410953269, + -1708.9680278193734, + 38.92177571723825 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 786.1616410953269, + -1711.5661040307268, + 38.92177571723825 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 784.6616410953269, + -1714.1641802420802, + 38.92177571723825 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 783.1616410953269, + -1716.7622564534336, + 38.92177571723825 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 781.6616410953269, + -1719.360332664787, + 38.92177571723825 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 780.1616410953269, + -1721.9584088761403, + 38.92177571723825 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 778.6616410953269, + -1724.5564850874937, + 38.92177571723825 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 777.1616410953269, + -1727.154561298847, + 38.92177571723825 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 775.6616410953269, + -1729.7526375102004, + 38.92177571723825 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 774.1616410953269, + -1732.3507137215538, + 38.92177571723825 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 772.6616410953269, + -1734.9487899329072, + 38.92177571723825 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 771.1616410953269, + -1737.5468661442605, + 38.92177571723825 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 769.6616410953269, + -1740.144942355614, + 38.92177571723825 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 768.1616410953269, + -1742.7430185669673, + 38.92177571723825 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 766.6616410953269, + -1745.3410947783207, + 38.92177571723825 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 765.1616410953269, + -1747.939170989674, + 38.92177571723825 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 763.6616410953269, + -1750.5372472010274, + 38.92177571723825 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 762.1616410953269, + -1753.1353234123808, + 38.92177571723825 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 760.6616410953269, + -1755.7333996237342, + 38.92177571723825 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 759.1616410953269, + -1758.3314758350875, + 38.92177571723825 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 757.6616410953269, + -1760.929552046441, + 38.92177571723825 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 748.0, + -1780.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_12-51-52_1752143421/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_12-51-52_1752143421/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a011049d12704ca836d148593d06e0e768cb7c8f --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_12-51-52_1752143421/pose.jsonl @@ -0,0 +1,379 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 904.0649915082876, + -929.1109681529665, + 35.35642603532466 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 907.0649915082876, + -929.1109681529665, + 35.35642603532466 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 910.0649915082876, + -929.1109681529665, + 35.35642603532466 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 913.0649915082876, + -929.1109681529665, + 35.35642603532466 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 916.0649915082876, + -929.1109681529665, + 35.35642603532466 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 916.0649915082876, + -929.1109681529665, + 35.35642603532466 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 918.6630677196408, + -927.6109681529665, + 35.35642603532466 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 921.2611439309942, + -926.1109681529665, + 35.35642603532466 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 923.8592201423476, + -924.6109681529665, + 35.35642603532466 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 926.4572963537009, + -923.1109681529665, + 35.35642603532466 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 929.0553725650543, + -921.6109681529665, + 35.35642603532466 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 931.6534487764077, + -920.1109681529665, + 35.35642603532466 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 934.2515249877611, + -918.6109681529665, + 35.35642603532466 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 936.8496011991144, + -917.1109681529665, + 35.35642603532466 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 939.4476774104678, + -915.6109681529665, + 35.35642603532466 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 942.0457536218212, + -914.1109681529665, + 35.35642603532466 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 944.6438298331746, + -912.6109681529665, + 35.35642603532466 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 947.2419060445279, + -911.1109681529665, + 35.35642603532466 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 949.8399822558813, + -909.6109681529665, + 35.35642603532466 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 952.4380584672347, + -908.1109681529665, + 35.35642603532466 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 955.036134678588, + -906.6109681529665, + 35.35642603532466 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 957.6342108899414, + -905.1109681529665, + 35.35642603532466 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 960.2322871012948, + -903.6109681529665, + 35.35642603532466 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 962.8303633126482, + -902.1109681529665, + 35.35642603532466 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 965.4284395240015, + -900.6109681529665, + 35.35642603532466 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 968.0265157353549, + -899.1109681529665, + 35.35642603532466 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 968.0265157353549, + -899.1109681529665, + 35.35642603532466 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 971.0265157353549, + -899.1109681529665, + 35.35642603532466 + ], + "type": "stop", + "value": 0, + "yaw": -9.43689570931383e-15 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1064.0, + -860.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_13-21-30_346502533/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_13-21-30_346502533/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3095623df001cfc69605c529e7a03f68c986cb42 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_13-21-30_346502533/pose.jsonl @@ -0,0 +1,171 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 815.7014374546214, + -1788.2851429136772, + 35.792138423076054 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 813.1033612432682, + -1789.7851429136772, + 35.792138423076054 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 810.5052850319148, + -1791.2851429136772, + 35.792138423076054 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 807.9072088205614, + -1792.7851429136772, + 35.792138423076054 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 805.3091326092081, + -1794.2851429136772, + 35.792138423076054 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 802.7110563978547, + -1795.7851429136772, + 35.792138423076054 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 800.1129801865013, + -1797.2851429136772, + 35.792138423076054 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 797.514903975148, + -1798.7851429136772, + 35.792138423076054 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 794.9168277637946, + -1800.2851429136772, + 35.792138423076054 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 792.3187515524412, + -1801.7851429136772, + 35.792138423076054 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 792.3187515524412, + -1801.7851429136772, + 35.792138423076054 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 789.3187515524412, + -1801.7851429136772, + 35.792138423076054 + ], + "type": "stop", + "value": 0, + "yaw": -3.1415926535898024 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 680.0, + -1856.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_13-28-33_1908681983/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_13-28-33_1908681983/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fab6fe77ec31c26458b064c4ec2c0dc33e9ee8ed --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_13-28-33_1908681983/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 832.0725895864132, + 192.39253354011478, + 39.24592569845319 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 829.0725895864132, + 192.39253354011478, + 39.24592569845319 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 826.0725895864132, + 192.39253354011478, + 39.24592569845319 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 823.0725895864132, + 192.39253354011478, + 39.24592569845319 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 820.0725895864132, + 192.39253354011478, + 39.24592569845319 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 817.0725895864132, + 192.39253354011478, + 39.24592569845319 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 814.0725895864132, + 192.39253354011478, + 39.24592569845319 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 811.0725895864132, + 192.39253354011478, + 39.24592569845319 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 808.0725895864132, + 192.39253354011478, + 39.24592569845319 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 805.0725895864132, + 192.39253354011478, + 39.24592569845319 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 802.0725895864132, + 192.39253354011478, + 39.24592569845319 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 799.0725895864132, + 192.39253354011478, + 39.24592569845319 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 796.0725895864132, + 192.39253354011478, + 39.24592569845319 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 793.0725895864132, + 192.39253354011478, + 39.24592569845319 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 790.0725895864132, + 192.39253354011478, + 39.24592569845319 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 787.0725895864132, + 192.39253354011478, + 39.24592569845319 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 784.0725895864132, + 192.39253354011478, + 39.24592569845319 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 781.0725895864132, + 192.39253354011478, + 39.24592569845319 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 778.0725895864132, + 192.39253354011478, + 39.24592569845319 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 775.0725895864132, + 192.39253354011478, + 39.24592569845319 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 772.0725895864132, + 192.39253354011478, + 39.24592569845319 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 772.0725895864132, + 192.39253354011478, + 39.24592569845319 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 769.4745133750598, + 190.89253354011478, + 39.24592569845319 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 766.8764371637064, + 189.39253354011478, + 39.24592569845319 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 764.2783609523531, + 187.89253354011478, + 39.24592569845319 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 761.6802847409997, + 186.39253354011478, + 39.24592569845319 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 759.0822085296463, + 184.89253354011478, + 39.24592569845319 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 756.484132318293, + 183.39253354011478, + 39.24592569845319 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 753.8860561069396, + 181.89253354011478, + 39.24592569845319 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 751.2879798955862, + 180.39253354011478, + 39.24592569845319 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 748.6899036842328, + 178.89253354011478, + 39.24592569845319 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 746.0918274728795, + 177.39253354011478, + 39.24592569845319 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 743.4937512615261, + 175.89253354011478, + 39.24592569845319 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 743.4937512615261, + 175.89253354011478, + 39.24592569845319 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 740.4937512615261, + 175.89253354011478, + 39.24592569845319 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 737.4937512615261, + 175.89253354011478, + 39.24592569845319 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 734.4937512615261, + 175.89253354011478, + 39.24592569845319 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 731.4937512615261, + 175.89253354011478, + 39.24592569845319 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 728.4937512615261, + 175.89253354011478, + 39.24592569845319 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 725.4937512615261, + 175.89253354011478, + 39.24592569845319 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 722.4937512615261, + 175.89253354011478, + 39.24592569845319 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 719.4937512615261, + 175.89253354011478, + 39.24592569845319 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 716.4937512615261, + 175.89253354011478, + 39.24592569845319 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 713.4937512615261, + 175.89253354011478, + 39.24592569845319 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 710.4937512615261, + 175.89253354011478, + 39.24592569845319 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 668.0, + 168.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_13-42-19_1470796522/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_13-42-19_1470796522/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..820d16316833aecdf5f849c4921880f0c8732946 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_13-42-19_1470796522/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1679.3426705975605, + 1474.7058626439348, + 39.80729010727223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1681.940746808914, + 1473.2058626439348, + 39.80729010727223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1684.5388230202673, + 1471.7058626439348, + 39.80729010727223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1687.1368992316206, + 1470.2058626439348, + 39.80729010727223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1689.734975442974, + 1468.7058626439348, + 39.80729010727223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1692.3330516543274, + 1467.2058626439348, + 39.80729010727223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1694.9311278656808, + 1465.7058626439348, + 39.80729010727223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1697.5292040770341, + 1464.2058626439348, + 39.80729010727223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1700.1272802883875, + 1462.7058626439348, + 39.80729010727223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1702.7253564997409, + 1461.2058626439348, + 39.80729010727223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1705.3234327110943, + 1459.7058626439348, + 39.80729010727223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1707.9215089224476, + 1458.2058626439348, + 39.80729010727223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1710.519585133801, + 1456.7058626439348, + 39.80729010727223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1713.1176613451544, + 1455.2058626439348, + 39.80729010727223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1715.7157375565077, + 1453.7058626439348, + 39.80729010727223 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1715.7157375565077, + 1453.7058626439348, + 39.80729010727223 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1718.7157375565077, + 1453.7058626439348, + 39.80729010727223 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1721.7157375565077, + 1453.7058626439348, + 39.80729010727223 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1724.7157375565077, + 1453.7058626439348, + 39.80729010727223 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1727.7157375565077, + 1453.7058626439348, + 39.80729010727223 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1730.7157375565077, + 1453.7058626439348, + 39.80729010727223 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1733.7157375565077, + 1453.7058626439348, + 39.80729010727223 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1736.7157375565077, + 1453.7058626439348, + 39.80729010727223 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1739.7157375565077, + 1453.7058626439348, + 39.80729010727223 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1742.7157375565077, + 1453.7058626439348, + 39.80729010727223 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1745.7157375565077, + 1453.7058626439348, + 39.80729010727223 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1748.7157375565077, + 1453.7058626439348, + 39.80729010727223 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1751.7157375565077, + 1453.7058626439348, + 39.80729010727223 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1754.7157375565077, + 1453.7058626439348, + 39.80729010727223 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1757.7157375565077, + 1453.7058626439348, + 39.80729010727223 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1760.7157375565077, + 1453.7058626439348, + 39.80729010727223 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1760.7157375565077, + 1453.7058626439348, + 39.80729010727223 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1760.7157375565077, + 1453.7058626439348, + 39.80729010727223 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1762.2157375565077, + 1456.3039388552882, + 39.80729010727223 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1763.7157375565077, + 1458.9020150666415, + 39.80729010727223 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1765.2157375565077, + 1461.500091277995, + 39.80729010727223 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1766.7157375565077, + 1464.0981674893483, + 39.80729010727223 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1768.2157375565077, + 1466.6962437007016, + 39.80729010727223 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1769.7157375565077, + 1469.294319912055, + 39.80729010727223 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1771.2157375565077, + 1471.8923961234084, + 39.80729010727223 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1772.7157375565077, + 1474.4904723347618, + 39.80729010727223 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1774.2157375565077, + 1477.0885485461151, + 39.80729010727223 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1775.7157375565077, + 1479.6866247574685, + 39.80729010727223 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1777.2157375565077, + 1482.2847009688219, + 39.80729010727223 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1778.7157375565077, + 1484.8827771801753, + 39.80729010727223 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1780.2157375565077, + 1487.4808533915286, + 39.80729010727223 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1781.7157375565077, + 1490.078929602882, + 39.80729010727223 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1783.2157375565077, + 1492.6770058142354, + 39.80729010727223 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1783.2157375565077, + 1492.6770058142354, + 39.80729010727223 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1785.8138137678611, + 1494.1770058142354, + 39.80729010727223 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -1788.4118899792145, + 1495.6770058142354, + 39.80729010727223 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -1791.0099661905679, + 1497.1770058142354, + 39.80729010727223 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -1793.6080424019212, + 1498.6770058142354, + 39.80729010727223 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1840.0, + 1508.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_14-3-0_1823025015/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_14-3-0_1823025015/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5afc5fb45a9e5153d16803fd816550a4ddf82fea --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_14-3-0_1823025015/pose.jsonl @@ -0,0 +1,80 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1790.0470097164691, + -696.467859366846, + 35.521505673668685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1792.6450859278225, + -694.967859366846, + 35.521505673668685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1795.2431621391759, + -693.467859366846, + 35.521505673668685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1797.8412383505292, + -691.967859366846, + 35.521505673668685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1800.4393145618826, + -690.467859366846, + 35.521505673668685 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1932.0, + -644.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_15-19-37_644834684/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_15-19-37_644834684/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d4021df876693503cb92432723befb9f06f4a20b --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_15-19-37_644834684/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 629.217111753164, + -741.413820117963, + 37.652866860786396 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 629.217111753164, + -738.413820117963, + 37.652866860786396 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 629.217111753164, + -735.413820117963, + 37.652866860786396 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 629.217111753164, + -732.413820117963, + 37.652866860786396 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 629.217111753164, + -729.413820117963, + 37.652866860786396 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 629.217111753164, + -726.413820117963, + 37.652866860786396 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 629.217111753164, + -723.413820117963, + 37.652866860786396 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 629.217111753164, + -720.413820117963, + 37.652866860786396 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 629.217111753164, + -717.413820117963, + 37.652866860786396 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 629.217111753164, + -714.413820117963, + 37.652866860786396 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 629.217111753164, + -711.413820117963, + 37.652866860786396 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 629.217111753164, + -708.413820117963, + 37.652866860786396 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 629.217111753164, + -705.413820117963, + 37.652866860786396 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 629.217111753164, + -702.413820117963, + 37.652866860786396 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 629.217111753164, + -699.413820117963, + 37.652866860786396 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 629.217111753164, + -696.413820117963, + 37.652866860786396 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 629.217111753164, + -693.413820117963, + 37.652866860786396 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 629.217111753164, + -690.413820117963, + 37.652866860786396 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 629.217111753164, + -687.413820117963, + 37.652866860786396 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 629.217111753164, + -684.413820117963, + 37.652866860786396 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 629.217111753164, + -681.413820117963, + 37.652866860786396 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 629.217111753164, + -678.413820117963, + 37.652866860786396 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 629.217111753164, + -675.413820117963, + 37.652866860786396 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 629.217111753164, + -672.413820117963, + 37.652866860786396 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 629.217111753164, + -669.413820117963, + 37.652866860786396 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 629.217111753164, + -666.413820117963, + 37.652866860786396 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 629.217111753164, + -663.413820117963, + 37.652866860786396 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 629.217111753164, + -660.413820117963, + 37.652866860786396 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 629.217111753164, + -657.413820117963, + 37.652866860786396 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 629.217111753164, + -657.413820117963, + 37.652866860786396 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 630.717111753164, + -654.8157439066097, + 37.652866860786396 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 632.217111753164, + -652.2176676952563, + 37.652866860786396 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 633.717111753164, + -649.6195914839029, + 37.652866860786396 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 635.217111753164, + -647.0215152725495, + 37.652866860786396 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 636.717111753164, + -644.4234390611962, + 37.652866860786396 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 638.217111753164, + -641.8253628498428, + 37.652866860786396 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 639.717111753164, + -639.2272866384894, + 37.652866860786396 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 641.217111753164, + -636.6292104271361, + 37.652866860786396 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 642.717111753164, + -634.0311342157827, + 37.652866860786396 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 644.217111753164, + -631.4330580044293, + 37.652866860786396 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 645.717111753164, + -628.8349817930759, + 37.652866860786396 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 647.217111753164, + -626.2369055817226, + 37.652866860786396 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 648.717111753164, + -623.6388293703692, + 37.652866860786396 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 648.717111753164, + -623.6388293703692, + 37.652866860786396 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 648.717111753164, + -620.6388293703692, + 37.652866860786396 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 648.717111753164, + -617.6388293703692, + 37.652866860786396 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 648.717111753164, + -614.6388293703692, + 37.652866860786396 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 656.0, + -580.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_15-29-58_959112711/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_15-29-58_959112711/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ab7990b13d0afbaf18fb6928d01490580e2a541f --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_15-29-58_959112711/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 740.2098812905988, + -164.98092213813243, + 37.40822055462501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 738.7098812905988, + -167.57899834948574, + 37.40822055462501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 737.2098812905988, + -170.17707456083906, + 37.40822055462501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 735.7098812905988, + -172.77515077219238, + 37.40822055462501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 734.2098812905988, + -175.3732269835457, + 37.40822055462501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 732.7098812905988, + -177.971303194899, + 37.40822055462501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 731.2098812905988, + -180.56937940625232, + 37.40822055462501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 729.7098812905988, + -183.16745561760564, + 37.40822055462501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 728.2098812905988, + -185.76553182895896, + 37.40822055462501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 726.7098812905988, + -188.36360804031227, + 37.40822055462501 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 726.7098812905988, + -188.36360804031227, + 37.40822055462501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 724.1118050792454, + -189.86360804031227, + 37.40822055462501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 721.513728867892, + -191.36360804031227, + 37.40822055462501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 718.9156526565387, + -192.86360804031227, + 37.40822055462501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 716.3175764451853, + -194.36360804031227, + 37.40822055462501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 713.7195002338319, + -195.86360804031227, + 37.40822055462501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 711.1214240224785, + -197.36360804031227, + 37.40822055462501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 708.5233478111252, + -198.86360804031227, + 37.40822055462501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 705.9252715997718, + -200.36360804031227, + 37.40822055462501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 703.3271953884184, + -201.86360804031227, + 37.40822055462501 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 703.3271953884184, + -201.86360804031227, + 37.40822055462501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 701.8271953884184, + -204.4616842516656, + 37.40822055462501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 700.3271953884184, + -207.0597604630189, + 37.40822055462501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 698.8271953884184, + -209.65783667437222, + 37.40822055462501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 697.3271953884184, + -212.25591288572554, + 37.40822055462501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 695.8271953884184, + -214.85398909707885, + 37.40822055462501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 694.3271953884184, + -217.45206530843217, + 37.40822055462501 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 694.3271953884184, + -217.45206530843217, + 37.40822055462501 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 694.3271953884184, + -220.45206530843217, + 37.40822055462501 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 694.3271953884184, + -223.45206530843217, + 37.40822055462501 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 694.3271953884184, + -226.45206530843217, + 37.40822055462501 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 694.3271953884184, + -229.45206530843217, + 37.40822055462501 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 694.3271953884184, + -229.45206530843217, + 37.40822055462501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 692.8271953884184, + -232.05014151978548, + 37.40822055462501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 691.3271953884184, + -234.6482177311388, + 37.40822055462501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 689.8271953884184, + -237.24629394249212, + 37.40822055462501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 688.3271953884184, + -239.84437015384543, + 37.40822055462501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 686.8271953884184, + -242.44244636519875, + 37.40822055462501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 685.3271953884184, + -245.04052257655206, + 37.40822055462501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 683.8271953884184, + -247.63859878790538, + 37.40822055462501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 682.3271953884184, + -250.2366749992587, + 37.40822055462501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 680.8271953884184, + -252.834751210612, + 37.40822055462501 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 680.8271953884184, + -252.834751210612, + 37.40822055462501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 678.2291191770651, + -254.334751210612, + 37.40822055462501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 675.6310429657117, + -255.834751210612, + 37.40822055462501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 673.0329667543583, + -257.334751210612, + 37.40822055462501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 670.4348905430049, + -258.834751210612, + 37.40822055462501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 667.8368143316516, + -260.334751210612, + 37.40822055462501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 665.2387381202982, + -261.834751210612, + 37.40822055462501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 662.6406619089448, + -263.334751210612, + 37.40822055462501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 660.0425856975914, + -264.834751210612, + 37.40822055462501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 657.4445094862381, + -266.334751210612, + 37.40822055462501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 654.8464332748847, + -267.834751210612, + 37.40822055462501 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 640.0, + -284.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_15-41-7_71185160/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_15-41-7_71185160/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..caea8642252df598528952fce6d6b04fa1828485 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_15-41-7_71185160/pose.jsonl @@ -0,0 +1,808 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 639.751269887588, + -1574.9773849966557, + 30.063297780046735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 642.751269887588, + -1574.9773849966557, + 30.063297780046735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 645.751269887588, + -1574.9773849966557, + 30.063297780046735 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 645.751269887588, + -1574.9773849966557, + 30.063297780046735 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 645.751269887588, + -1574.9773849966557, + 30.063297780046735 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 647.251269887588, + -1577.575461208009, + 30.063297780046735 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 648.751269887588, + -1580.1735374193624, + 30.063297780046735 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 650.251269887588, + -1582.7716136307158, + 30.063297780046735 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 650.251269887588, + -1582.7716136307158, + 30.063297780046735 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 650.251269887588, + -1582.7716136307158, + 30.063297780046735 + ], + "type": "go straight", + "value": 3, + "yaw": -9.547918011776346e-15 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 653.251269887588, + -1582.7716136307158, + 30.063297780046735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 656.251269887588, + -1582.7716136307158, + 30.063297780046735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 659.251269887588, + -1582.7716136307158, + 30.063297780046735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 662.251269887588, + -1582.7716136307158, + 30.063297780046735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 665.251269887588, + -1582.7716136307158, + 30.063297780046735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 668.251269887588, + -1582.7716136307158, + 30.063297780046735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 671.251269887588, + -1582.7716136307158, + 30.063297780046735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 674.251269887588, + -1582.7716136307158, + 30.063297780046735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 677.251269887588, + -1582.7716136307158, + 30.063297780046735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 680.251269887588, + -1582.7716136307158, + 30.063297780046735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 683.251269887588, + -1582.7716136307158, + 30.063297780046735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 686.251269887588, + -1582.7716136307158, + 30.063297780046735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 689.251269887588, + -1582.7716136307158, + 30.063297780046735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 692.251269887588, + -1582.7716136307158, + 30.063297780046735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 695.251269887588, + -1582.7716136307158, + 30.063297780046735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 698.251269887588, + -1582.7716136307158, + 30.063297780046735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 701.251269887588, + -1582.7716136307158, + 30.063297780046735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 704.251269887588, + -1582.7716136307158, + 30.063297780046735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 707.251269887588, + -1582.7716136307158, + 30.063297780046735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 710.251269887588, + -1582.7716136307158, + 30.063297780046735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 713.251269887588, + -1582.7716136307158, + 30.063297780046735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 716.251269887588, + -1582.7716136307158, + 30.063297780046735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 719.251269887588, + -1582.7716136307158, + 30.063297780046735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 722.251269887588, + -1582.7716136307158, + 30.063297780046735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 725.251269887588, + -1582.7716136307158, + 30.063297780046735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 728.251269887588, + -1582.7716136307158, + 30.063297780046735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 731.251269887588, + -1582.7716136307158, + 30.063297780046735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 734.251269887588, + -1582.7716136307158, + 30.063297780046735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 737.251269887588, + -1582.7716136307158, + 30.063297780046735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 740.251269887588, + -1582.7716136307158, + 30.063297780046735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 743.251269887588, + -1582.7716136307158, + 30.063297780046735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 746.251269887588, + -1582.7716136307158, + 30.063297780046735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 749.251269887588, + -1582.7716136307158, + 30.063297780046735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 752.251269887588, + -1582.7716136307158, + 30.063297780046735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 755.251269887588, + -1582.7716136307158, + 30.063297780046735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 758.251269887588, + -1582.7716136307158, + 30.063297780046735 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 758.251269887588, + -1582.7716136307158, + 30.063297780046735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 760.8493460989414, + -1581.2716136307158, + 30.063297780046735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 763.4474223102948, + -1579.7716136307158, + 30.063297780046735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 766.0454985216481, + -1578.2716136307158, + 30.063297780046735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 768.6435747330015, + -1576.7716136307158, + 30.063297780046735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 771.2416509443549, + -1575.2716136307158, + 30.063297780046735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 773.8397271557083, + -1573.7716136307158, + 30.063297780046735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 776.4378033670616, + -1572.2716136307158, + 30.063297780046735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 779.035879578415, + -1570.7716136307158, + 30.063297780046735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 781.6339557897684, + -1569.2716136307158, + 30.063297780046735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 784.2320320011218, + -1567.7716136307158, + 30.063297780046735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 786.8301082124751, + -1566.2716136307158, + 30.063297780046735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 789.4281844238285, + -1564.7716136307158, + 30.063297780046735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 792.0262606351819, + -1563.2716136307158, + 30.063297780046735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 794.6243368465352, + -1561.7716136307158, + 30.063297780046735 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 812.0, + -1560.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_15-8-26_256031502/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_15-8-26_256031502/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..15e4845ebf15c59a77cca69d956d459934d99e9f --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_15-8-26_256031502/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1256.5180915244823, + -1627.4704097772099, + 35.22448239823697 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1255.0180915244823, + -1624.8723335658565, + 35.22448239823697 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1253.5180915244823, + -1622.274257354503, + 35.22448239823697 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1252.0180915244823, + -1619.6761811431497, + 35.22448239823697 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1250.5180915244823, + -1617.0781049317964, + 35.22448239823697 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1249.0180915244823, + -1614.480028720443, + 35.22448239823697 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1247.5180915244823, + -1611.8819525090896, + 35.22448239823697 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1246.0180915244823, + -1609.2838762977362, + 35.22448239823697 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1244.5180915244823, + -1606.6858000863829, + 35.22448239823697 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1243.0180915244823, + -1604.0877238750295, + 35.22448239823697 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1241.5180915244823, + -1601.4896476636761, + 35.22448239823697 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1240.0180915244823, + -1598.8915714523228, + 35.22448239823697 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1238.5180915244823, + -1596.2934952409694, + 35.22448239823697 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1237.0180915244823, + -1593.695419029616, + 35.22448239823697 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1235.5180915244823, + -1591.0973428182626, + 35.22448239823697 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1234.0180915244823, + -1588.4992666069093, + 35.22448239823697 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1232.5180915244823, + -1585.9011903955559, + 35.22448239823697 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1231.0180915244823, + -1583.3031141842025, + 35.22448239823697 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1229.5180915244823, + -1580.7050379728491, + 35.22448239823697 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1228.0180915244823, + -1578.1069617614958, + 35.22448239823697 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1226.5180915244823, + -1575.5088855501424, + 35.22448239823697 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1225.0180915244823, + -1572.910809338789, + 35.22448239823697 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1223.5180915244823, + -1570.3127331274356, + 35.22448239823697 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1222.0180915244823, + -1567.7146569160823, + 35.22448239823697 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1220.5180915244823, + -1565.116580704729, + 35.22448239823697 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1219.0180915244823, + -1562.5185044933755, + 35.22448239823697 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1217.5180915244823, + -1559.9204282820222, + 35.22448239823697 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1216.0180915244823, + -1557.3223520706688, + 35.22448239823697 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1214.5180915244823, + -1554.7242758593154, + 35.22448239823697 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1213.0180915244823, + -1552.126199647962, + 35.22448239823697 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1211.5180915244823, + -1549.5281234366087, + 35.22448239823697 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1210.0180915244823, + -1546.9300472252553, + 35.22448239823697 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1208.5180915244823, + -1544.331971013902, + 35.22448239823697 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1207.0180915244823, + -1541.7338948025485, + 35.22448239823697 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1205.5180915244823, + -1539.1358185911952, + 35.22448239823697 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1204.0180915244823, + -1536.5377423798418, + 35.22448239823697 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1202.5180915244823, + -1533.9396661684884, + 35.22448239823697 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1201.0180915244823, + -1531.341589957135, + 35.22448239823697 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1201.0180915244823, + -1531.341589957135, + 35.22448239823697 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1201.0180915244823, + -1528.341589957135, + 35.22448239823697 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948872 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1180.0, + -1492.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_16-10-3_353511414/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_16-10-3_353511414/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d2caf7f0d7068eab9fd217fd577e175c8b12536d --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_16-10-3_353511414/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 540.0933557456522, + -181.62168917224696, + 38.47934315240174 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 538.5933557456522, + -179.02361296089364, + 38.47934315240174 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 537.0933557456522, + -176.42553674954033, + 38.47934315240174 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 535.5933557456522, + -173.827460538187, + 38.47934315240174 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 535.5933557456522, + -173.827460538187, + 38.47934315240174 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 532.9952795342988, + -172.327460538187, + 38.47934315240174 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 530.3972033229454, + -170.827460538187, + 38.47934315240174 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 527.799127111592, + -169.327460538187, + 38.47934315240174 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 525.2010509002387, + -167.827460538187, + 38.47934315240174 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 522.6029746888853, + -166.327460538187, + 38.47934315240174 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 520.0048984775319, + -164.827460538187, + 38.47934315240174 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 517.4068222661786, + -163.327460538187, + 38.47934315240174 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 514.8087460548252, + -161.827460538187, + 38.47934315240174 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 512.2106698434718, + -160.327460538187, + 38.47934315240174 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 512.2106698434718, + -160.327460538187, + 38.47934315240174 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 509.2106698434718, + -160.327460538187, + 38.47934315240174 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 506.2106698434718, + -160.327460538187, + 38.47934315240174 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 503.2106698434718, + -160.327460538187, + 38.47934315240174 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 500.2106698434718, + -160.327460538187, + 38.47934315240174 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 497.2106698434718, + -160.327460538187, + 38.47934315240174 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 494.2106698434718, + -160.327460538187, + 38.47934315240174 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 491.2106698434718, + -160.327460538187, + 38.47934315240174 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 488.2106698434718, + -160.327460538187, + 38.47934315240174 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 485.2106698434718, + -160.327460538187, + 38.47934315240174 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 482.2106698434718, + -160.327460538187, + 38.47934315240174 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 479.2106698434718, + -160.327460538187, + 38.47934315240174 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 476.2106698434718, + -160.327460538187, + 38.47934315240174 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 473.2106698434718, + -160.327460538187, + 38.47934315240174 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 470.2106698434718, + -160.327460538187, + 38.47934315240174 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 467.2106698434718, + -160.327460538187, + 38.47934315240174 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 464.2106698434718, + -160.327460538187, + 38.47934315240174 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 461.2106698434718, + -160.327460538187, + 38.47934315240174 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 458.2106698434718, + -160.327460538187, + 38.47934315240174 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 455.2106698434718, + -160.327460538187, + 38.47934315240174 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 452.2106698434718, + -160.327460538187, + 38.47934315240174 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 449.2106698434718, + -160.327460538187, + 38.47934315240174 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 446.2106698434718, + -160.327460538187, + 38.47934315240174 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 443.2106698434718, + -160.327460538187, + 38.47934315240174 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 440.2106698434718, + -160.327460538187, + 38.47934315240174 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 437.2106698434718, + -160.327460538187, + 38.47934315240174 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 434.2106698434718, + -160.327460538187, + 38.47934315240174 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 431.2106698434718, + -160.327460538187, + 38.47934315240174 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 428.2106698434718, + -160.327460538187, + 38.47934315240174 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 425.2106698434718, + -160.327460538187, + 38.47934315240174 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 376.0, + -152.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_16-2-31_1216803069/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_16-2-31_1216803069/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..509d12f902b179fc611faed4245f645e2ff64942 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_16-2-31_1216803069/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 820.1029005071761, + -1460.5321251324983, + 32.10606356739976 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 817.5048242958228, + -1462.0321251324983, + 32.10606356739976 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 814.9067480844694, + -1463.5321251324983, + 32.10606356739976 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 812.308671873116, + -1465.0321251324983, + 32.10606356739976 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 809.7105956617627, + -1466.5321251324983, + 32.10606356739976 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 807.1125194504093, + -1468.0321251324983, + 32.10606356739976 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 804.5144432390559, + -1469.5321251324983, + 32.10606356739976 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 801.9163670277026, + -1471.0321251324983, + 32.10606356739976 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 799.3182908163492, + -1472.5321251324983, + 32.10606356739976 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 796.7202146049958, + -1474.0321251324983, + 32.10606356739976 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 794.1221383936424, + -1475.5321251324983, + 32.10606356739976 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 791.5240621822891, + -1477.0321251324983, + 32.10606356739976 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 788.9259859709357, + -1478.5321251324983, + 32.10606356739976 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 786.3279097595823, + -1480.0321251324983, + 32.10606356739976 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 783.729833548229, + -1481.5321251324983, + 32.10606356739976 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 781.1317573368756, + -1483.0321251324983, + 32.10606356739976 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 778.5336811255222, + -1484.5321251324983, + 32.10606356739976 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 775.9356049141688, + -1486.0321251324983, + 32.10606356739976 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 773.3375287028155, + -1487.5321251324983, + 32.10606356739976 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 770.7394524914621, + -1489.0321251324983, + 32.10606356739976 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 768.1413762801087, + -1490.5321251324983, + 32.10606356739976 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 765.5433000687553, + -1492.0321251324983, + 32.10606356739976 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 762.945223857402, + -1493.5321251324983, + 32.10606356739976 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 760.3471476460486, + -1495.0321251324983, + 32.10606356739976 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 757.7490714346952, + -1496.5321251324983, + 32.10606356739976 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 755.1509952233419, + -1498.0321251324983, + 32.10606356739976 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 752.5529190119885, + -1499.5321251324983, + 32.10606356739976 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 749.9548428006351, + -1501.0321251324983, + 32.10606356739976 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 747.3567665892817, + -1502.5321251324983, + 32.10606356739976 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 744.7586903779284, + -1504.0321251324983, + 32.10606356739976 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 742.160614166575, + -1505.5321251324983, + 32.10606356739976 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 739.5625379552216, + -1507.0321251324983, + 32.10606356739976 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 736.9644617438682, + -1508.5321251324983, + 32.10606356739976 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 734.3663855325149, + -1510.0321251324983, + 32.10606356739976 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 731.7683093211615, + -1511.5321251324983, + 32.10606356739976 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 729.1702331098081, + -1513.0321251324983, + 32.10606356739976 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 729.1702331098081, + -1513.0321251324983, + 32.10606356739976 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 727.6702331098081, + -1515.6302013438517, + 32.10606356739976 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 726.1702331098081, + -1518.228277555205, + 32.10606356739976 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 724.6702331098081, + -1520.8263537665584, + 32.10606356739976 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 723.1702331098081, + -1523.4244299779118, + 32.10606356739976 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 721.6702331098081, + -1526.0225061892652, + 32.10606356739976 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 720.1702331098081, + -1528.6205824006186, + 32.10606356739976 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 720.1702331098081, + -1528.6205824006186, + 32.10606356739976 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 717.5721568984548, + -1530.1205824006186, + 32.10606356739976 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 714.9740806871014, + -1531.6205824006186, + 32.10606356739976 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 712.376004475748, + -1533.1205824006186, + 32.10606356739976 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 680.0, + -1556.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_16-27-2_1840700573/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_16-27-2_1840700573/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..340393a32f8446855360a45b2d23d0727dfa254e --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_16-27-2_1840700573/pose.jsonl @@ -0,0 +1,756 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 944.2114646659093, + -889.1926318861146, + 30.31522646324033 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 941.2114646659093, + -889.1926318861146, + 30.31522646324033 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 938.2114646659093, + -889.1926318861146, + 30.31522646324033 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 935.2114646659093, + -889.1926318861146, + 30.31522646324033 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 932.2114646659093, + -889.1926318861146, + 30.31522646324033 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 929.2114646659093, + -889.1926318861146, + 30.31522646324033 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 926.2114646659093, + -889.1926318861146, + 30.31522646324033 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 923.2114646659093, + -889.1926318861146, + 30.31522646324033 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 920.2114646659093, + -889.1926318861146, + 30.31522646324033 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 920.2114646659093, + -889.1926318861146, + 30.31522646324033 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 917.6133884545559, + -887.6926318861146, + 30.31522646324033 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 917.6133884545559, + -887.6926318861146, + 30.31522646324033 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 914.6133884545559, + -887.6926318861146, + 30.31522646324033 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 911.6133884545559, + -887.6926318861146, + 30.31522646324033 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 908.6133884545559, + -887.6926318861146, + 30.31522646324033 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 905.6133884545559, + -887.6926318861146, + 30.31522646324033 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 902.6133884545559, + -887.6926318861146, + 30.31522646324033 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 899.6133884545559, + -887.6926318861146, + 30.31522646324033 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 896.6133884545559, + -887.6926318861146, + 30.31522646324033 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 893.6133884545559, + -887.6926318861146, + 30.31522646324033 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 890.6133884545559, + -887.6926318861146, + 30.31522646324033 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 887.6133884545559, + -887.6926318861146, + 30.31522646324033 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 884.6133884545559, + -887.6926318861146, + 30.31522646324033 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 881.6133884545559, + -887.6926318861146, + 30.31522646324033 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 878.6133884545559, + -887.6926318861146, + 30.31522646324033 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 875.6133884545559, + -887.6926318861146, + 30.31522646324033 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 872.6133884545559, + -887.6926318861146, + 30.31522646324033 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 869.6133884545559, + -887.6926318861146, + 30.31522646324033 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 866.6133884545559, + -887.6926318861146, + 30.31522646324033 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 863.6133884545559, + -887.6926318861146, + 30.31522646324033 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 860.6133884545559, + -887.6926318861146, + 30.31522646324033 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 857.6133884545559, + -887.6926318861146, + 30.31522646324033 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 857.6133884545559, + -887.6926318861146, + 30.31522646324033 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 855.0153122432025, + -889.1926318861146, + 30.31522646324033 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 852.4172360318491, + -890.6926318861146, + 30.31522646324033 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 849.8191598204958, + -892.1926318861146, + 30.31522646324033 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 847.2210836091424, + -893.6926318861146, + 30.31522646324033 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 844.623007397789, + -895.1926318861146, + 30.31522646324033 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 842.0249311864357, + -896.6926318861146, + 30.31522646324033 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 839.4268549750823, + -898.1926318861146, + 30.31522646324033 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 836.8287787637289, + -899.6926318861146, + 30.31522646324033 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 834.2307025523755, + -901.1926318861146, + 30.31522646324033 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 831.6326263410222, + -902.6926318861146, + 30.31522646324033 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 829.0345501296688, + -904.1926318861146, + 30.31522646324033 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 826.4364739183154, + -905.6926318861146, + 30.31522646324033 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 823.838397706962, + -907.1926318861146, + 30.31522646324033 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 821.2403214956087, + -908.6926318861146, + 30.31522646324033 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 818.6422452842553, + -910.1926318861146, + 30.31522646324033 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 816.0441690729019, + -911.6926318861146, + 30.31522646324033 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 813.4460928615485, + -913.1926318861146, + 30.31522646324033 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 810.8480166501952, + -914.6926318861146, + 30.31522646324033 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 808.2499404388418, + -916.1926318861146, + 30.31522646324033 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 805.6518642274884, + -917.6926318861146, + 30.31522646324033 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 803.0537880161351, + -919.1926318861146, + 30.31522646324033 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 800.4557118047817, + -920.6926318861146, + 30.31522646324033 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 797.8576355934283, + -922.1926318861146, + 30.31522646324033 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 795.2595593820749, + -923.6926318861146, + 30.31522646324033 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 772.0, + -928.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_16-27-43_71061648/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_16-27-43_71061648/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8b23423db6c1900cc73c788ee117ced66dc5d78d --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_16-27-43_71061648/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 868.4755603667963, + 1629.4228546290553, + 35.800301940880445 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 866.9755603667963, + 1632.0209308404087, + 35.800301940880445 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 865.4755603667963, + 1634.619007051762, + 35.800301940880445 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 863.9755603667963, + 1637.2170832631155, + 35.800301940880445 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 862.4755603667963, + 1639.8151594744688, + 35.800301940880445 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 860.9755603667963, + 1642.4132356858222, + 35.800301940880445 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 859.4755603667963, + 1645.0113118971756, + 35.800301940880445 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 857.9755603667963, + 1647.609388108529, + 35.800301940880445 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 856.4755603667963, + 1650.2074643198823, + 35.800301940880445 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 854.9755603667963, + 1652.8055405312357, + 35.800301940880445 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 853.4755603667963, + 1655.403616742589, + 35.800301940880445 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 851.9755603667963, + 1658.0016929539424, + 35.800301940880445 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 850.4755603667963, + 1660.5997691652958, + 35.800301940880445 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 848.9755603667963, + 1663.1978453766492, + 35.800301940880445 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 847.4755603667963, + 1665.7959215880026, + 35.800301940880445 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 845.9755603667963, + 1668.393997799356, + 35.800301940880445 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 844.4755603667963, + 1670.9920740107093, + 35.800301940880445 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 842.9755603667963, + 1673.5901502220627, + 35.800301940880445 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 841.4755603667963, + 1676.188226433416, + 35.800301940880445 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 839.9755603667963, + 1678.7863026447694, + 35.800301940880445 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 838.4755603667963, + 1681.3843788561228, + 35.800301940880445 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 836.9755603667963, + 1683.9824550674762, + 35.800301940880445 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 835.4755603667963, + 1686.5805312788295, + 35.800301940880445 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 833.9755603667963, + 1689.178607490183, + 35.800301940880445 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 832.4755603667963, + 1691.7766837015363, + 35.800301940880445 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 830.9755603667963, + 1694.3747599128897, + 35.800301940880445 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 829.4755603667963, + 1696.972836124243, + 35.800301940880445 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 827.9755603667963, + 1699.5709123355964, + 35.800301940880445 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 826.4755603667963, + 1702.1689885469498, + 35.800301940880445 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 824.9755603667963, + 1704.7670647583031, + 35.800301940880445 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 823.4755603667963, + 1707.3651409696565, + 35.800301940880445 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 821.9755603667963, + 1709.96321718101, + 35.800301940880445 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 820.4755603667963, + 1712.5612933923633, + 35.800301940880445 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 818.9755603667963, + 1715.1593696037166, + 35.800301940880445 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 817.4755603667963, + 1717.75744581507, + 35.800301940880445 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 815.9755603667963, + 1720.3555220264234, + 35.800301940880445 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 814.4755603667963, + 1722.9535982377768, + 35.800301940880445 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 812.9755603667963, + 1725.5516744491301, + 35.800301940880445 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 811.4755603667963, + 1728.1497506604835, + 35.800301940880445 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 809.9755603667963, + 1730.7478268718369, + 35.800301940880445 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 809.9755603667963, + 1730.7478268718369, + 35.800301940880445 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 809.9755603667963, + 1733.7478268718369, + 35.800301940880445 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 809.9755603667963, + 1736.7478268718369, + 35.800301940880445 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 809.9755603667963, + 1739.7478268718369, + 35.800301940880445 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 809.9755603667963, + 1742.7478268718369, + 35.800301940880445 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 809.9755603667963, + 1745.7478268718369, + 35.800301940880445 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 809.9755603667963, + 1748.7478268718369, + 35.800301940880445 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 809.9755603667963, + 1751.7478268718369, + 35.800301940880445 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 809.9755603667963, + 1754.7478268718369, + 35.800301940880445 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 809.9755603667963, + 1757.7478268718369, + 35.800301940880445 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 809.9755603667963, + 1760.7478268718369, + 35.800301940880445 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 809.9755603667963, + 1763.7478268718369, + 35.800301940880445 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 809.9755603667963, + 1766.7478268718369, + 35.800301940880445 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 809.9755603667963, + 1769.7478268718369, + 35.800301940880445 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 809.9755603667963, + 1772.7478268718369, + 35.800301940880445 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 800.0, + 1792.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_16-30-21_1035839366/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_16-30-21_1035839366/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..806bccd3b657ded7d10dccaa4c7565eaa9e258ad --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_16-30-21_1035839366/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1240.037572576089, + -1331.3137952890606, + 30.229344217967846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1238.537572576089, + -1333.911871500414, + 30.229344217967846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1237.037572576089, + -1336.5099477117674, + 30.229344217967846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1235.537572576089, + -1339.1080239231208, + 30.229344217967846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1234.037572576089, + -1341.7061001344741, + 30.229344217967846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1232.537572576089, + -1344.3041763458275, + 30.229344217967846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1231.037572576089, + -1346.9022525571809, + 30.229344217967846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1229.537572576089, + -1349.5003287685342, + 30.229344217967846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1228.037572576089, + -1352.0984049798876, + 30.229344217967846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1226.537572576089, + -1354.696481191241, + 30.229344217967846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1225.037572576089, + -1357.2945574025944, + 30.229344217967846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1223.537572576089, + -1359.8926336139477, + 30.229344217967846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1222.037572576089, + -1362.490709825301, + 30.229344217967846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1220.537572576089, + -1365.0887860366545, + 30.229344217967846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1219.037572576089, + -1367.6868622480079, + 30.229344217967846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1217.537572576089, + -1370.2849384593612, + 30.229344217967846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1216.037572576089, + -1372.8830146707146, + 30.229344217967846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1214.537572576089, + -1375.481090882068, + 30.229344217967846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1213.037572576089, + -1378.0791670934213, + 30.229344217967846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1211.537572576089, + -1380.6772433047747, + 30.229344217967846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1210.037572576089, + -1383.275319516128, + 30.229344217967846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1208.537572576089, + -1385.8733957274815, + 30.229344217967846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1207.037572576089, + -1388.4714719388348, + 30.229344217967846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1205.537572576089, + -1391.0695481501882, + 30.229344217967846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1204.037572576089, + -1393.6676243615416, + 30.229344217967846 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1204.037572576089, + -1393.6676243615416, + 30.229344217967846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1204.037572576089, + -1396.6676243615416, + 30.229344217967846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1204.037572576089, + -1399.6676243615416, + 30.229344217967846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1204.037572576089, + -1402.6676243615416, + 30.229344217967846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1204.037572576089, + -1405.6676243615416, + 30.229344217967846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1204.037572576089, + -1408.6676243615416, + 30.229344217967846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1204.037572576089, + -1411.6676243615416, + 30.229344217967846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1204.037572576089, + -1414.6676243615416, + 30.229344217967846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1204.037572576089, + -1417.6676243615416, + 30.229344217967846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1204.037572576089, + -1420.6676243615416, + 30.229344217967846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1204.037572576089, + -1423.6676243615416, + 30.229344217967846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1204.037572576089, + -1426.6676243615416, + 30.229344217967846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1204.037572576089, + -1429.6676243615416, + 30.229344217967846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1204.037572576089, + -1432.6676243615416, + 30.229344217967846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1204.037572576089, + -1435.6676243615416, + 30.229344217967846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1204.037572576089, + -1438.6676243615416, + 30.229344217967846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1204.037572576089, + -1441.6676243615416, + 30.229344217967846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1204.037572576089, + -1444.6676243615416, + 30.229344217967846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1204.037572576089, + -1447.6676243615416, + 30.229344217967846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1204.037572576089, + -1450.6676243615416, + 30.229344217967846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1204.037572576089, + -1453.6676243615416, + 30.229344217967846 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1204.037572576089, + -1456.6676243615416, + 30.229344217967846 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1204.037572576089, + -1456.6676243615416, + 30.229344217967846 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1204.037572576089, + -1456.6676243615416, + 30.229344217967846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1201.4394963647355, + -1458.1676243615416, + 30.229344217967846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1198.8414201533822, + -1459.6676243615416, + 30.229344217967846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1196.2433439420288, + -1461.1676243615416, + 30.229344217967846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1193.6452677306754, + -1462.6676243615416, + 30.229344217967846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1191.047191519322, + -1464.1676243615416, + 30.229344217967846 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1180.0, + -1492.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_16-30-54_45299067/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_16-30-54_45299067/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..068a20e4a5ac09b7548a05b77b0933f1c2542a5b --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_16-30-54_45299067/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1464.6056669473983, + -1423.184977745101, + 39.95587438027723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1467.6056669473983, + -1423.184977745101, + 39.95587438027723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1470.6056669473983, + -1423.184977745101, + 39.95587438027723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1473.6056669473983, + -1423.184977745101, + 39.95587438027723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1476.6056669473983, + -1423.184977745101, + 39.95587438027723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1479.6056669473983, + -1423.184977745101, + 39.95587438027723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1482.6056669473983, + -1423.184977745101, + 39.95587438027723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1485.6056669473983, + -1423.184977745101, + 39.95587438027723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1488.6056669473983, + -1423.184977745101, + 39.95587438027723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1491.6056669473983, + -1423.184977745101, + 39.95587438027723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1494.6056669473983, + -1423.184977745101, + 39.95587438027723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1497.6056669473983, + -1423.184977745101, + 39.95587438027723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1500.6056669473983, + -1423.184977745101, + 39.95587438027723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1503.6056669473983, + -1423.184977745101, + 39.95587438027723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1506.6056669473983, + -1423.184977745101, + 39.95587438027723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1509.6056669473983, + -1423.184977745101, + 39.95587438027723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1512.6056669473983, + -1423.184977745101, + 39.95587438027723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1515.6056669473983, + -1423.184977745101, + 39.95587438027723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1518.6056669473983, + -1423.184977745101, + 39.95587438027723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1521.6056669473983, + -1423.184977745101, + 39.95587438027723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1524.6056669473983, + -1423.184977745101, + 39.95587438027723 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1524.6056669473983, + -1423.184977745101, + 39.95587438027723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1527.2037431587516, + -1424.684977745101, + 39.95587438027723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1529.801819370105, + -1426.184977745101, + 39.95587438027723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1532.3998955814584, + -1427.684977745101, + 39.95587438027723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1534.9979717928118, + -1429.184977745101, + 39.95587438027723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1537.5960480041651, + -1430.684977745101, + 39.95587438027723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1540.1941242155185, + -1432.184977745101, + 39.95587438027723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1542.792200426872, + -1433.684977745101, + 39.95587438027723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1545.3902766382253, + -1435.184977745101, + 39.95587438027723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1547.9883528495786, + -1436.684977745101, + 39.95587438027723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1550.586429060932, + -1438.184977745101, + 39.95587438027723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1553.1845052722854, + -1439.684977745101, + 39.95587438027723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1555.7825814836388, + -1441.184977745101, + 39.95587438027723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1558.3806576949921, + -1442.684977745101, + 39.95587438027723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1560.9787339063455, + -1444.184977745101, + 39.95587438027723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1563.5768101176989, + -1445.684977745101, + 39.95587438027723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1566.1748863290522, + -1447.184977745101, + 39.95587438027723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1568.7729625404056, + -1448.684977745101, + 39.95587438027723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1571.371038751759, + -1450.184977745101, + 39.95587438027723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1573.9691149631124, + -1451.684977745101, + 39.95587438027723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1576.5671911744657, + -1453.184977745101, + 39.95587438027723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1579.165267385819, + -1454.684977745101, + 39.95587438027723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1581.7633435971725, + -1456.184977745101, + 39.95587438027723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1584.3614198085259, + -1457.684977745101, + 39.95587438027723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1586.9594960198792, + -1459.184977745101, + 39.95587438027723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1589.5575722312326, + -1460.684977745101, + 39.95587438027723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1592.155648442586, + -1462.184977745101, + 39.95587438027723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1594.7537246539393, + -1463.684977745101, + 39.95587438027723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1597.3518008652927, + -1465.184977745101, + 39.95587438027723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1599.949877076646, + -1466.684977745101, + 39.95587438027723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1602.5479532879995, + -1468.184977745101, + 39.95587438027723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1605.1460294993528, + -1469.684977745101, + 39.95587438027723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1607.7441057107062, + -1471.184977745101, + 39.95587438027723 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1628.0, + -1476.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_16-44-17_1616992200/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_16-44-17_1616992200/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..102d73c02eb89e9a9cd146354e70e0307ac2a830 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_16-44-17_1616992200/pose.jsonl @@ -0,0 +1,808 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 653.985831684585, + -808.1718885950107, + 30.934300115245698 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 656.985831684585, + -808.1718885950107, + 30.934300115245698 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 659.985831684585, + -808.1718885950107, + 30.934300115245698 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 662.985831684585, + -808.1718885950107, + 30.934300115245698 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 665.985831684585, + -808.1718885950107, + 30.934300115245698 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 665.985831684585, + -808.1718885950107, + 30.934300115245698 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 665.985831684585, + -808.1718885950107, + 30.934300115245698 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 667.485831684585, + -810.769964806364, + 30.934300115245698 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 668.985831684585, + -813.3680410177174, + 30.934300115245698 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 670.485831684585, + -815.9661172290707, + 30.934300115245698 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 671.985831684585, + -818.5641934404241, + 30.934300115245698 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 673.485831684585, + -821.1622696517775, + 30.934300115245698 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 674.985831684585, + -823.7603458631309, + 30.934300115245698 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 676.485831684585, + -826.3584220744842, + 30.934300115245698 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 676.485831684585, + -826.3584220744842, + 30.934300115245698 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 679.0839078959384, + -827.8584220744842, + 30.934300115245698 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 681.6819841072918, + -829.3584220744842, + 30.934300115245698 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 684.2800603186452, + -830.8584220744842, + 30.934300115245698 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 686.8781365299985, + -832.3584220744842, + 30.934300115245698 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 689.4762127413519, + -833.8584220744842, + 30.934300115245698 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 692.0742889527053, + -835.3584220744842, + 30.934300115245698 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 694.6723651640586, + -836.8584220744842, + 30.934300115245698 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 697.270441375412, + -838.3584220744842, + 30.934300115245698 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 699.8685175867654, + -839.8584220744842, + 30.934300115245698 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 702.4665937981188, + -841.3584220744842, + 30.934300115245698 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 705.0646700094721, + -842.8584220744842, + 30.934300115245698 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 707.6627462208255, + -844.3584220744842, + 30.934300115245698 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 710.2608224321789, + -845.8584220744842, + 30.934300115245698 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 712.8588986435323, + -847.3584220744842, + 30.934300115245698 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 712.8588986435323, + -847.3584220744842, + 30.934300115245698 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 714.3588986435323, + -849.9564982858376, + 30.934300115245698 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 715.8588986435323, + -852.554574497191, + 30.934300115245698 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 717.3588986435323, + -855.1526507085443, + 30.934300115245698 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 718.8588986435323, + -857.7507269198977, + 30.934300115245698 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 718.8588986435323, + -857.7507269198977, + 30.934300115245698 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 718.8588986435323, + -860.7507269198977, + 30.934300115245698 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 718.8588986435323, + -863.7507269198977, + 30.934300115245698 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 718.8588986435323, + -863.7507269198977, + 30.934300115245698 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 720.3588986435323, + -866.3488031312511, + 30.934300115245698 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 721.8588986435323, + -868.9468793426045, + 30.934300115245698 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 723.3588986435323, + -871.5449555539578, + 30.934300115245698 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 724.8588986435323, + -874.1430317653112, + 30.934300115245698 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 726.3588986435323, + -876.7411079766646, + 30.934300115245698 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 727.8588986435323, + -879.339184188018, + 30.934300115245698 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 729.3588986435323, + -881.9372603993713, + 30.934300115245698 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 730.8588986435323, + -884.5353366107247, + 30.934300115245698 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 732.3588986435323, + -887.1334128220781, + 30.934300115245698 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 733.8588986435323, + -889.7314890334314, + 30.934300115245698 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 735.3588986435323, + -892.3295652447848, + 30.934300115245698 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 736.8588986435323, + -894.9276414561382, + 30.934300115245698 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 738.3588986435323, + -897.5257176674916, + 30.934300115245698 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 739.8588986435323, + -900.1237938788449, + 30.934300115245698 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 741.3588986435323, + -902.7218700901983, + 30.934300115245698 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 742.8588986435323, + -905.3199463015517, + 30.934300115245698 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 742.8588986435323, + -905.3199463015517, + 30.934300115245698 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 745.4569748548856, + -906.8199463015517, + 30.934300115245698 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 748.055051066239, + -908.3199463015517, + 30.934300115245698 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 750.6531272775924, + -909.8199463015517, + 30.934300115245698 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 753.2512034889457, + -911.3199463015517, + 30.934300115245698 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 755.8492797002991, + -912.8199463015517, + 30.934300115245698 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 758.4473559116525, + -914.3199463015517, + 30.934300115245698 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 772.0, + -928.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_17-11-37_535297508/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_17-11-37_535297508/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..25f72485a2150abd81c7846e2f92bc7c8a165991 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_17-11-37_535297508/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -519.7630849669443, + 452.00935306019255, + 36.69801526126993 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -522.3611611782976, + 453.50935306019255, + 36.69801526126993 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -524.959237389651, + 455.00935306019255, + 36.69801526126993 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -527.5573136010044, + 456.50935306019255, + 36.69801526126993 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -530.1553898123577, + 458.00935306019255, + 36.69801526126993 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -532.7534660237111, + 459.50935306019255, + 36.69801526126993 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -535.3515422350645, + 461.00935306019255, + 36.69801526126993 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -537.9496184464178, + 462.50935306019255, + 36.69801526126993 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -540.5476946577712, + 464.00935306019255, + 36.69801526126993 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -543.1457708691246, + 465.50935306019255, + 36.69801526126993 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -545.743847080478, + 467.00935306019255, + 36.69801526126993 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -548.3419232918313, + 468.50935306019255, + 36.69801526126993 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -550.9399995031847, + 470.00935306019255, + 36.69801526126993 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -553.5380757145381, + 471.50935306019255, + 36.69801526126993 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -556.1361519258915, + 473.00935306019255, + 36.69801526126993 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -558.7342281372448, + 474.50935306019255, + 36.69801526126993 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -561.3323043485982, + 476.00935306019255, + 36.69801526126993 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -563.9303805599516, + 477.50935306019255, + 36.69801526126993 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -566.528456771305, + 479.00935306019255, + 36.69801526126993 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -569.1265329826583, + 480.50935306019255, + 36.69801526126993 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -571.7246091940117, + 482.00935306019255, + 36.69801526126993 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -574.3226854053651, + 483.50935306019255, + 36.69801526126993 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -576.9207616167184, + 485.00935306019255, + 36.69801526126993 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -579.5188378280718, + 486.50935306019255, + 36.69801526126993 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -582.1169140394252, + 488.00935306019255, + 36.69801526126993 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -584.7149902507786, + 489.50935306019255, + 36.69801526126993 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -587.3130664621319, + 491.00935306019255, + 36.69801526126993 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -589.9111426734853, + 492.50935306019255, + 36.69801526126993 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -592.5092188848387, + 494.00935306019255, + 36.69801526126993 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -595.107295096192, + 495.50935306019255, + 36.69801526126993 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -597.7053713075454, + 497.00935306019255, + 36.69801526126993 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -600.3034475188988, + 498.50935306019255, + 36.69801526126993 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -602.9015237302522, + 500.00935306019255, + 36.69801526126993 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -605.4995999416055, + 501.50935306019255, + 36.69801526126993 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -605.4995999416055, + 501.50935306019255, + 36.69801526126993 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -608.4995999416055, + 501.50935306019255, + 36.69801526126993 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -611.4995999416055, + 501.50935306019255, + 36.69801526126993 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -614.4995999416055, + 501.50935306019255, + 36.69801526126993 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -617.4995999416055, + 501.50935306019255, + 36.69801526126993 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -620.4995999416055, + 501.50935306019255, + 36.69801526126993 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -623.4995999416055, + 501.50935306019255, + 36.69801526126993 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -626.4995999416055, + 501.50935306019255, + 36.69801526126993 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -629.4995999416055, + 501.50935306019255, + 36.69801526126993 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -632.4995999416055, + 501.50935306019255, + 36.69801526126993 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -635.4995999416055, + 501.50935306019255, + 36.69801526126993 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -638.4995999416055, + 501.50935306019255, + 36.69801526126993 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -668.0, + 512.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_17-35-19_939882271/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_17-35-19_939882271/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f69818b57b5b8c56fb931a55eacbd16ffa9f72ce --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_17-35-19_939882271/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1782.324042856353, + -1448.096807510631, + 39.601918193156216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1782.324042856353, + -1445.096807510631, + 39.601918193156216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1782.324042856353, + -1442.096807510631, + 39.601918193156216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1782.324042856353, + -1439.096807510631, + 39.601918193156216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1782.324042856353, + -1436.096807510631, + 39.601918193156216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1782.324042856353, + -1433.096807510631, + 39.601918193156216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1782.324042856353, + -1430.096807510631, + 39.601918193156216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1782.324042856353, + -1427.096807510631, + 39.601918193156216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1782.324042856353, + -1424.096807510631, + 39.601918193156216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1782.324042856353, + -1421.096807510631, + 39.601918193156216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1782.324042856353, + -1418.096807510631, + 39.601918193156216 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1782.324042856353, + -1418.096807510631, + 39.601918193156216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1780.824042856353, + -1415.4987312992776, + 39.601918193156216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1779.324042856353, + -1412.9006550879242, + 39.601918193156216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1777.824042856353, + -1410.3025788765708, + 39.601918193156216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1776.324042856353, + -1407.7045026652174, + 39.601918193156216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1774.824042856353, + -1405.106426453864, + 39.601918193156216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1773.324042856353, + -1402.5083502425107, + 39.601918193156216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1771.824042856353, + -1399.9102740311573, + 39.601918193156216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1770.324042856353, + -1397.312197819804, + 39.601918193156216 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1770.324042856353, + -1397.312197819804, + 39.601918193156216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1770.324042856353, + -1394.312197819804, + 39.601918193156216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1770.324042856353, + -1391.312197819804, + 39.601918193156216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1770.324042856353, + -1388.312197819804, + 39.601918193156216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1770.324042856353, + -1385.312197819804, + 39.601918193156216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1770.324042856353, + -1382.312197819804, + 39.601918193156216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1770.324042856353, + -1379.312197819804, + 39.601918193156216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1770.324042856353, + -1376.312197819804, + 39.601918193156216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1770.324042856353, + -1373.312197819804, + 39.601918193156216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1770.324042856353, + -1370.312197819804, + 39.601918193156216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1770.324042856353, + -1367.312197819804, + 39.601918193156216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1770.324042856353, + -1364.312197819804, + 39.601918193156216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1770.324042856353, + -1361.312197819804, + 39.601918193156216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1770.324042856353, + -1358.312197819804, + 39.601918193156216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1770.324042856353, + -1355.312197819804, + 39.601918193156216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1770.324042856353, + -1352.312197819804, + 39.601918193156216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1770.324042856353, + -1349.312197819804, + 39.601918193156216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1770.324042856353, + -1346.312197819804, + 39.601918193156216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1770.324042856353, + -1343.312197819804, + 39.601918193156216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1770.324042856353, + -1340.312197819804, + 39.601918193156216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1770.324042856353, + -1337.312197819804, + 39.601918193156216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1770.324042856353, + -1334.312197819804, + 39.601918193156216 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1770.324042856353, + -1334.312197819804, + 39.601918193156216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1768.824042856353, + -1331.7141216084506, + 39.601918193156216 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1764.0, + -1292.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_18-23-34_812426701/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_18-23-34_812426701/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7c9d4d1794f2774d0023bbb8c031438fd5e1d543 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_18-23-34_812426701/pose.jsonl @@ -0,0 +1,743 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1515.9703970734938, + 205.28346859195392, + 30.541477098872118 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1512.9703970734938, + 205.28346859195392, + 30.541477098872118 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1509.9703970734938, + 205.28346859195392, + 30.541477098872118 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1506.9703970734938, + 205.28346859195392, + 30.541477098872118 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1503.9703970734938, + 205.28346859195392, + 30.541477098872118 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1503.9703970734938, + 205.28346859195392, + 30.541477098872118 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1501.3723208621404, + 203.78346859195392, + 30.541477098872118 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1498.774244650787, + 202.28346859195392, + 30.541477098872118 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1496.1761684394337, + 200.78346859195392, + 30.541477098872118 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1493.5780922280803, + 199.28346859195392, + 30.541477098872118 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1493.5780922280803, + 199.28346859195392, + 30.541477098872118 + ], + "type": "go straight", + "value": 3, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1490.5780922280803, + 199.28346859195392, + 30.541477098872118 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1487.5780922280803, + 199.28346859195392, + 30.541477098872118 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1484.5780922280803, + 199.28346859195392, + 30.541477098872118 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1481.5780922280803, + 199.28346859195392, + 30.541477098872118 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1478.5780922280803, + 199.28346859195392, + 30.541477098872118 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1475.5780922280803, + 199.28346859195392, + 30.541477098872118 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1472.5780922280803, + 199.28346859195392, + 30.541477098872118 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1469.5780922280803, + 199.28346859195392, + 30.541477098872118 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1466.5780922280803, + 199.28346859195392, + 30.541477098872118 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1463.5780922280803, + 199.28346859195392, + 30.541477098872118 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1460.5780922280803, + 199.28346859195392, + 30.541477098872118 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1457.5780922280803, + 199.28346859195392, + 30.541477098872118 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1457.5780922280803, + 199.28346859195392, + 30.541477098872118 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1457.5780922280803, + 199.28346859195392, + 30.541477098872118 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1456.0780922280803, + 196.6853923806006, + 30.541477098872118 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1454.5780922280803, + 194.0873161692473, + 30.541477098872118 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1453.0780922280803, + 191.48923995789397, + 30.541477098872118 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1451.5780922280803, + 188.89116374654066, + 30.541477098872118 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1450.0780922280803, + 186.29308753518734, + 30.541477098872118 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1448.5780922280803, + 183.69501132383402, + 30.541477098872118 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1447.0780922280803, + 181.0969351124807, + 30.541477098872118 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1445.5780922280803, + 178.4988589011274, + 30.541477098872118 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1444.0780922280803, + 175.90078268977408, + 30.541477098872118 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1442.5780922280803, + 173.30270647842076, + 30.541477098872118 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1441.0780922280803, + 170.70463026706744, + 30.541477098872118 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1439.5780922280803, + 168.10655405571413, + 30.541477098872118 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1438.0780922280803, + 165.5084778443608, + 30.541477098872118 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1436.5780922280803, + 162.9104016330075, + 30.541477098872118 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1436.5780922280803, + 162.9104016330075, + 30.541477098872118 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1436.5780922280803, + 159.9104016330075, + 30.541477098872118 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1436.5780922280803, + 156.9104016330075, + 30.541477098872118 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1436.5780922280803, + 153.9104016330075, + 30.541477098872118 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1436.5780922280803, + 150.9104016330075, + 30.541477098872118 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1436.5780922280803, + 147.9104016330075, + 30.541477098872118 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1436.5780922280803, + 144.9104016330075, + 30.541477098872118 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1436.5780922280803, + 144.9104016330075, + 30.541477098872118 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1435.0780922280803, + 142.31232542165418, + 30.541477098872118 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1433.5780922280803, + 139.71424921030086, + 30.541477098872118 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1432.0780922280803, + 137.11617299894755, + 30.541477098872118 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -1430.5780922280803, + 134.51809678759423, + 30.541477098872118 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -1429.0780922280803, + 131.92002057624092, + 30.541477098872118 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -1427.5780922280803, + 129.3219443648876, + 30.541477098872118 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -1426.0780922280803, + 126.72386815353428, + 30.541477098872118 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -1424.5780922280803, + 124.12579194218097, + 30.541477098872118 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -1423.0780922280803, + 121.52771573082765, + 30.541477098872118 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1400.0, + 100.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_18-23-3_1781459970/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_18-23-3_1781459970/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..766d169425f3b6908a80e9818fdbbe0a8c5c479e --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_18-23-3_1781459970/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1363.5656750563344, + 488.39172543489246, + 39.30425904358608 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1362.0656750563344, + 490.9898016462458, + 39.30425904358608 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1360.5656750563344, + 493.5878778575991, + 39.30425904358608 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1359.0656750563344, + 496.1859540689524, + 39.30425904358608 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1357.5656750563344, + 498.78403028030573, + 39.30425904358608 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1356.0656750563344, + 501.38210649165904, + 39.30425904358608 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1354.5656750563344, + 503.98018270301236, + 39.30425904358608 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1353.0656750563344, + 506.5782589143657, + 39.30425904358608 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1351.5656750563344, + 509.176335125719, + 39.30425904358608 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1350.0656750563344, + 511.7744113370723, + 39.30425904358608 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1348.5656750563344, + 514.3724875484256, + 39.30425904358608 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1347.0656750563344, + 516.970563759779, + 39.30425904358608 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1345.5656750563344, + 519.5686399711324, + 39.30425904358608 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1344.0656750563344, + 522.1667161824857, + 39.30425904358608 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1342.5656750563344, + 524.7647923938391, + 39.30425904358608 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1341.0656750563344, + 527.3628686051925, + 39.30425904358608 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1341.0656750563344, + 527.3628686051925, + 39.30425904358608 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1338.467598844981, + 528.8628686051925, + 39.30425904358608 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1335.8695226336276, + 530.3628686051925, + 39.30425904358608 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1333.2714464222743, + 531.8628686051925, + 39.30425904358608 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1330.673370210921, + 533.3628686051925, + 39.30425904358608 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1328.0752939995675, + 534.8628686051925, + 39.30425904358608 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1325.4772177882141, + 536.3628686051925, + 39.30425904358608 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1322.8791415768608, + 537.8628686051925, + 39.30425904358608 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1320.2810653655074, + 539.3628686051925, + 39.30425904358608 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1317.682989154154, + 540.8628686051925, + 39.30425904358608 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1315.0849129428007, + 542.3628686051925, + 39.30425904358608 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1312.4868367314473, + 543.8628686051925, + 39.30425904358608 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1309.888760520094, + 545.3628686051925, + 39.30425904358608 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1307.2906843087405, + 546.8628686051925, + 39.30425904358608 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1304.6926080973872, + 548.3628686051925, + 39.30425904358608 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1302.0945318860338, + 549.8628686051925, + 39.30425904358608 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1299.4964556746804, + 551.3628686051925, + 39.30425904358608 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1296.898379463327, + 552.8628686051925, + 39.30425904358608 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1294.3003032519737, + 554.3628686051925, + 39.30425904358608 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1291.7022270406203, + 555.8628686051925, + 39.30425904358608 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1289.104150829267, + 557.3628686051925, + 39.30425904358608 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1286.5060746179136, + 558.8628686051925, + 39.30425904358608 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1283.9079984065602, + 560.3628686051925, + 39.30425904358608 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1281.3099221952068, + 561.8628686051925, + 39.30425904358608 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1281.3099221952068, + 561.8628686051925, + 39.30425904358608 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1278.3099221952068, + 561.8628686051925, + 39.30425904358608 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1275.3099221952068, + 561.8628686051925, + 39.30425904358608 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1272.3099221952068, + 561.8628686051925, + 39.30425904358608 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1269.3099221952068, + 561.8628686051925, + 39.30425904358608 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1266.3099221952068, + 561.8628686051925, + 39.30425904358608 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1263.3099221952068, + 561.8628686051925, + 39.30425904358608 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1260.3099221952068, + 561.8628686051925, + 39.30425904358608 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1232.0, + 584.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_18-54-37_1727671564/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_18-54-37_1727671564/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9a6a62bdb743f3a559c5751428be769cdc0edda1 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_18-54-37_1727671564/pose.jsonl @@ -0,0 +1,210 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1744.4137932699384, + -993.1740372353747, + 30.947639251993852 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1745.9137932699384, + -995.7721134467281, + 30.947639251993852 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1747.4137932699384, + -998.3701896580815, + 30.947639251993852 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1748.9137932699384, + -1000.9682658694348, + 30.947639251993852 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1750.4137932699384, + -1003.5663420807882, + 30.947639251993852 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1751.9137932699384, + -1006.1644182921416, + 30.947639251993852 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1753.4137932699384, + -1008.762494503495, + 30.947639251993852 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1754.9137932699384, + -1011.3605707148483, + 30.947639251993852 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1756.4137932699384, + -1013.9586469262017, + 30.947639251993852 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1757.9137932699384, + -1016.5567231375551, + 30.947639251993852 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1759.4137932699384, + -1019.1547993489085, + 30.947639251993852 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1760.9137932699384, + -1021.7528755602618, + 30.947639251993852 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1762.4137932699384, + -1024.3509517716152, + 30.947639251993852 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1763.9137932699384, + -1026.9490279829686, + 30.947639251993852 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1765.4137932699384, + -1029.547104194322, + 30.947639251993852 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1836.0, + -1148.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_18-54-3_220071006/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_18-54-3_220071006/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..64c839de8a87838f375822a7d3bc7a1a4922fe0e --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_18-54-3_220071006/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1119.6292076933853, + -466.97156400057963, + 39.75305151184854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1118.1292076933853, + -464.3734877892263, + 39.75305151184854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1116.6292076933853, + -461.775411577873, + 39.75305151184854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1115.1292076933853, + -459.1773353665197, + 39.75305151184854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1113.6292076933853, + -456.57925915516637, + 39.75305151184854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1112.1292076933853, + -453.98118294381305, + 39.75305151184854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1110.6292076933853, + -451.38310673245974, + 39.75305151184854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1109.1292076933853, + -448.7850305211064, + 39.75305151184854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1107.6292076933853, + -446.1869543097531, + 39.75305151184854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1106.1292076933853, + -443.5888780983998, + 39.75305151184854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1104.6292076933853, + -440.9908018870465, + 39.75305151184854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1103.1292076933853, + -438.39272567569316, + 39.75305151184854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1101.6292076933853, + -435.79464946433984, + 39.75305151184854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1100.1292076933853, + -433.1965732529865, + 39.75305151184854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1098.6292076933853, + -430.5984970416332, + 39.75305151184854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1097.1292076933853, + -428.0004208302799, + 39.75305151184854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1095.6292076933853, + -425.4023446189266, + 39.75305151184854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1094.1292076933853, + -422.80426840757326, + 39.75305151184854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1092.6292076933853, + -420.20619219621994, + 39.75305151184854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1091.1292076933853, + -417.60811598486663, + 39.75305151184854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1089.6292076933853, + -415.0100397735133, + 39.75305151184854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1088.1292076933853, + -412.41196356216, + 39.75305151184854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1086.6292076933853, + -409.8138873508067, + 39.75305151184854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1085.1292076933853, + -407.21581113945336, + 39.75305151184854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1083.6292076933853, + -404.61773492810005, + 39.75305151184854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1082.1292076933853, + -402.01965871674673, + 39.75305151184854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1080.6292076933853, + -399.4215825053934, + 39.75305151184854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1079.1292076933853, + -396.8235062940401, + 39.75305151184854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1077.6292076933853, + -394.2254300826868, + 39.75305151184854 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1077.6292076933853, + -394.2254300826868, + 39.75305151184854 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1075.031131482032, + -392.7254300826868, + 39.75305151184854 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1075.031131482032, + -392.7254300826868, + 39.75305151184854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1073.531131482032, + -390.12735387133347, + 39.75305151184854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1072.031131482032, + -387.52927765998015, + 39.75305151184854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1070.531131482032, + -384.93120144862684, + 39.75305151184854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1069.031131482032, + -382.3331252372735, + 39.75305151184854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1067.531131482032, + -379.7350490259202, + 39.75305151184854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1066.031131482032, + -377.1369728145669, + 39.75305151184854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1064.531131482032, + -374.5388966032136, + 39.75305151184854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1063.031131482032, + -371.94082039186026, + 39.75305151184854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1061.531131482032, + -369.34274418050694, + 39.75305151184854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1060.031131482032, + -366.7446679691536, + 39.75305151184854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1058.531131482032, + -364.1465917578003, + 39.75305151184854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1057.031131482032, + -361.548515546447, + 39.75305151184854 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1057.031131482032, + -361.548515546447, + 39.75305151184854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1057.031131482032, + -358.548515546447, + 39.75305151184854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1057.031131482032, + -355.548515546447, + 39.75305151184854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1057.031131482032, + -352.548515546447, + 39.75305151184854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1057.031131482032, + -349.548515546447, + 39.75305151184854 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1040.0, + -312.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_18-7-3_2052861120/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_18-7-3_2052861120/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..38c9885e91422c52c41ed5f1ef9d1852e3c3cd03 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_18-7-3_2052861120/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1607.2876189690414, + -888.1840625308172, + 31.613001351739367 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1610.2876189690414, + -888.1840625308172, + 31.613001351739367 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1613.2876189690414, + -888.1840625308172, + 31.613001351739367 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1616.2876189690414, + -888.1840625308172, + 31.613001351739367 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1619.2876189690414, + -888.1840625308172, + 31.613001351739367 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1622.2876189690414, + -888.1840625308172, + 31.613001351739367 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1625.2876189690414, + -888.1840625308172, + 31.613001351739367 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1628.2876189690414, + -888.1840625308172, + 31.613001351739367 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1631.2876189690414, + -888.1840625308172, + 31.613001351739367 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1631.2876189690414, + -888.1840625308172, + 31.613001351739367 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1633.8856951803948, + -886.6840625308172, + 31.613001351739367 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1636.4837713917482, + -885.1840625308172, + 31.613001351739367 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1639.0818476031016, + -883.6840625308172, + 31.613001351739367 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1641.679923814455, + -882.1840625308172, + 31.613001351739367 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1644.2780000258083, + -880.6840625308172, + 31.613001351739367 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1646.8760762371617, + -879.1840625308172, + 31.613001351739367 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1649.474152448515, + -877.6840625308172, + 31.613001351739367 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1652.0722286598684, + -876.1840625308172, + 31.613001351739367 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1654.6703048712218, + -874.6840625308172, + 31.613001351739367 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1657.2683810825752, + -873.1840625308172, + 31.613001351739367 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1659.8664572939285, + -871.6840625308172, + 31.613001351739367 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1662.464533505282, + -870.1840625308172, + 31.613001351739367 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1665.0626097166353, + -868.6840625308172, + 31.613001351739367 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1667.6606859279887, + -867.1840625308172, + 31.613001351739367 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1670.258762139342, + -865.6840625308172, + 31.613001351739367 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1672.8568383506954, + -864.1840625308172, + 31.613001351739367 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1675.4549145620488, + -862.6840625308172, + 31.613001351739367 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1678.0529907734021, + -861.1840625308172, + 31.613001351739367 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1680.6510669847555, + -859.6840625308172, + 31.613001351739367 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1683.249143196109, + -858.1840625308172, + 31.613001351739367 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1685.8472194074623, + -856.6840625308172, + 31.613001351739367 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1688.4452956188156, + -855.1840625308172, + 31.613001351739367 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1691.043371830169, + -853.6840625308172, + 31.613001351739367 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1693.6414480415224, + -852.1840625308172, + 31.613001351739367 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1696.2395242528758, + -850.6840625308172, + 31.613001351739367 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1698.8376004642291, + -849.1840625308172, + 31.613001351739367 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1701.4356766755825, + -847.6840625308172, + 31.613001351739367 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1704.0337528869359, + -846.1840625308172, + 31.613001351739367 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1706.6318290982892, + -844.6840625308172, + 31.613001351739367 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1709.2299053096426, + -843.1840625308172, + 31.613001351739367 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1711.827981520996, + -841.6840625308172, + 31.613001351739367 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1714.4260577323494, + -840.1840625308172, + 31.613001351739367 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1717.0241339437027, + -838.6840625308172, + 31.613001351739367 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1719.622210155056, + -837.1840625308172, + 31.613001351739367 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1719.622210155056, + -837.1840625308172, + 31.613001351739367 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1722.622210155056, + -837.1840625308172, + 31.613001351739367 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1725.622210155056, + -837.1840625308172, + 31.613001351739367 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1728.622210155056, + -837.1840625308172, + 31.613001351739367 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1731.622210155056, + -837.1840625308172, + 31.613001351739367 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1734.622210155056, + -837.1840625308172, + 31.613001351739367 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1737.622210155056, + -837.1840625308172, + 31.613001351739367 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1740.622210155056, + -837.1840625308172, + 31.613001351739367 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1743.622210155056, + -837.1840625308172, + 31.613001351739367 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1746.622210155056, + -837.1840625308172, + 31.613001351739367 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1749.622210155056, + -837.1840625308172, + 31.613001351739367 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1764.0, + -832.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_19-42-0_218942709/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_19-42-0_218942709/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e83c07421e51a29ec5503e563e9cd7d50ddca626 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_19-42-0_218942709/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1288.0396452882107, + 203.6755651053083, + 37.55689434975373 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1285.0396452882107, + 203.6755651053083, + 37.55689434975373 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1282.0396452882107, + 203.6755651053083, + 37.55689434975373 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1279.0396452882107, + 203.6755651053083, + 37.55689434975373 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1276.0396452882107, + 203.6755651053083, + 37.55689434975373 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1273.0396452882107, + 203.6755651053083, + 37.55689434975373 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1270.0396452882107, + 203.6755651053083, + 37.55689434975373 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1267.0396452882107, + 203.6755651053083, + 37.55689434975373 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1264.0396452882107, + 203.6755651053083, + 37.55689434975373 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1261.0396452882107, + 203.6755651053083, + 37.55689434975373 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1258.0396452882107, + 203.6755651053083, + 37.55689434975373 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1255.0396452882107, + 203.6755651053083, + 37.55689434975373 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1252.0396452882107, + 203.6755651053083, + 37.55689434975373 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1249.0396452882107, + 203.6755651053083, + 37.55689434975373 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1246.0396452882107, + 203.6755651053083, + 37.55689434975373 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1243.0396452882107, + 203.6755651053083, + 37.55689434975373 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1240.0396452882107, + 203.6755651053083, + 37.55689434975373 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1237.0396452882107, + 203.6755651053083, + 37.55689434975373 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1234.0396452882107, + 203.6755651053083, + 37.55689434975373 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1231.0396452882107, + 203.6755651053083, + 37.55689434975373 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1228.0396452882107, + 203.6755651053083, + 37.55689434975373 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1225.0396452882107, + 203.6755651053083, + 37.55689434975373 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1222.0396452882107, + 203.6755651053083, + 37.55689434975373 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1219.0396452882107, + 203.6755651053083, + 37.55689434975373 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1216.0396452882107, + 203.6755651053083, + 37.55689434975373 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1213.0396452882107, + 203.6755651053083, + 37.55689434975373 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1210.0396452882107, + 203.6755651053083, + 37.55689434975373 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1207.0396452882107, + 203.6755651053083, + 37.55689434975373 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1204.0396452882107, + 203.6755651053083, + 37.55689434975373 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1201.0396452882107, + 203.6755651053083, + 37.55689434975373 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1198.0396452882107, + 203.6755651053083, + 37.55689434975373 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1195.0396452882107, + 203.6755651053083, + 37.55689434975373 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1192.0396452882107, + 203.6755651053083, + 37.55689434975373 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1189.0396452882107, + 203.6755651053083, + 37.55689434975373 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1186.0396452882107, + 203.6755651053083, + 37.55689434975373 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1183.0396452882107, + 203.6755651053083, + 37.55689434975373 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1180.0396452882107, + 203.6755651053083, + 37.55689434975373 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1177.0396452882107, + 203.6755651053083, + 37.55689434975373 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1174.0396452882107, + 203.6755651053083, + 37.55689434975373 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1171.0396452882107, + 203.6755651053083, + 37.55689434975373 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1168.0396452882107, + 203.6755651053083, + 37.55689434975373 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1168.0396452882107, + 203.6755651053083, + 37.55689434975373 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1165.4415690768574, + 205.1755651053083, + 37.55689434975373 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1162.843492865504, + 206.6755651053083, + 37.55689434975373 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1160.2454166541506, + 208.1755651053083, + 37.55689434975373 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1136.0, + 212.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_19-48-42_364234956/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_19-48-42_364234956/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2898d6bae9ca16444c3f2de9432abc9f8a62fc9b --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_19-48-42_364234956/pose.jsonl @@ -0,0 +1,483 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -361.0688012976726, + 596.8657774384592, + 38.43394107616003 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -361.0688012976726, + 593.8657774384592, + 38.43394107616003 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -361.0688012976726, + 590.8657774384592, + 38.43394107616003 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -361.0688012976726, + 587.8657774384592, + 38.43394107616003 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -361.0688012976726, + 584.8657774384592, + 38.43394107616003 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -361.0688012976726, + 581.8657774384592, + 38.43394107616003 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -361.0688012976726, + 578.8657774384592, + 38.43394107616003 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -361.0688012976726, + 575.8657774384592, + 38.43394107616003 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -361.0688012976726, + 572.8657774384592, + 38.43394107616003 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -361.0688012976726, + 569.8657774384592, + 38.43394107616003 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -361.0688012976726, + 566.8657774384592, + 38.43394107616003 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -361.0688012976726, + 563.8657774384592, + 38.43394107616003 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -361.0688012976726, + 560.8657774384592, + 38.43394107616003 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -361.0688012976726, + 557.8657774384592, + 38.43394107616003 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -361.0688012976726, + 554.8657774384592, + 38.43394107616003 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -361.0688012976726, + 551.8657774384592, + 38.43394107616003 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -361.0688012976726, + 548.8657774384592, + 38.43394107616003 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -361.0688012976726, + 545.8657774384592, + 38.43394107616003 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -361.0688012976726, + 542.8657774384592, + 38.43394107616003 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -361.0688012976726, + 542.8657774384592, + 38.43394107616003 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -362.5688012976726, + 540.2677012271058, + 38.43394107616003 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -364.0688012976726, + 537.6696250157524, + 38.43394107616003 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -365.5688012976726, + 535.0715488043991, + 38.43394107616003 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -367.0688012976726, + 532.4734725930457, + 38.43394107616003 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -368.5688012976726, + 529.8753963816923, + 38.43394107616003 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -370.0688012976726, + 527.277320170339, + 38.43394107616003 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -371.5688012976726, + 524.6792439589856, + 38.43394107616003 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -373.0688012976726, + 522.0811677476322, + 38.43394107616003 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -374.5688012976726, + 519.4830915362788, + 38.43394107616003 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -376.0688012976726, + 516.8850153249255, + 38.43394107616003 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -377.5688012976726, + 514.2869391135721, + 38.43394107616003 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -379.0688012976726, + 511.6888629022188, + 38.43394107616003 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -380.5688012976726, + 509.09078669086546, + 38.43394107616003 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -382.0688012976726, + 506.49271047951214, + 38.43394107616003 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -383.5688012976726, + 503.8946342681588, + 38.43394107616003 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -385.0688012976726, + 501.2965580568055, + 38.43394107616003 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -400.0, + 440.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_19-8-31_1984313970/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_19-8-31_1984313970/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5bc6def631f129c5f1ee90975622f0b8aac01dba --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_19-8-31_1984313970/pose.jsonl @@ -0,0 +1,795 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -877.2638398648289, + -1347.9847031319744, + 31.750462968144102 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -875.7638398648289, + -1350.5827793433277, + 31.750462968144102 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -874.2638398648289, + -1353.180855554681, + 31.750462968144102 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -872.7638398648289, + -1355.7789317660345, + 31.750462968144102 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -871.2638398648289, + -1358.3770079773878, + 31.750462968144102 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -869.7638398648289, + -1360.9750841887412, + 31.750462968144102 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -868.2638398648289, + -1363.5731604000946, + 31.750462968144102 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -866.7638398648289, + -1366.171236611448, + 31.750462968144102 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -865.2638398648289, + -1368.7693128228013, + 31.750462968144102 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -863.7638398648289, + -1371.3673890341547, + 31.750462968144102 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -862.2638398648289, + -1373.965465245508, + 31.750462968144102 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -860.7638398648289, + -1376.5635414568615, + 31.750462968144102 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -859.2638398648289, + -1379.1616176682148, + 31.750462968144102 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -857.7638398648289, + -1381.7596938795682, + 31.750462968144102 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -856.2638398648289, + -1384.3577700909216, + 31.750462968144102 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -854.7638398648289, + -1386.955846302275, + 31.750462968144102 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -853.2638398648289, + -1389.5539225136283, + 31.750462968144102 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -851.7638398648289, + -1392.1519987249817, + 31.750462968144102 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -850.2638398648289, + -1394.750074936335, + 31.750462968144102 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -848.7638398648289, + -1397.3481511476884, + 31.750462968144102 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -848.7638398648289, + -1397.3481511476884, + 31.750462968144102 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -848.7638398648289, + -1400.3481511476884, + 31.750462968144102 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -848.7638398648289, + -1403.3481511476884, + 31.750462968144102 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -848.7638398648289, + -1406.3481511476884, + 31.750462968144102 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -848.7638398648289, + -1409.3481511476884, + 31.750462968144102 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -848.7638398648289, + -1412.3481511476884, + 31.750462968144102 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -848.7638398648289, + -1415.3481511476884, + 31.750462968144102 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -848.7638398648289, + -1418.3481511476884, + 31.750462968144102 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -848.7638398648289, + -1421.3481511476884, + 31.750462968144102 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -848.7638398648289, + -1424.3481511476884, + 31.750462968144102 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -848.7638398648289, + -1427.3481511476884, + 31.750462968144102 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -848.7638398648289, + -1430.3481511476884, + 31.750462968144102 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -848.7638398648289, + -1433.3481511476884, + 31.750462968144102 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -848.7638398648289, + -1433.3481511476884, + 31.750462968144102 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -847.2638398648289, + -1435.9462273590418, + 31.750462968144102 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -845.7638398648289, + -1438.5443035703952, + 31.750462968144102 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -844.2638398648289, + -1441.1423797817486, + 31.750462968144102 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -842.7638398648289, + -1443.740455993102, + 31.750462968144102 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -841.2638398648289, + -1446.3385322044553, + 31.750462968144102 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -839.7638398648289, + -1448.9366084158087, + 31.750462968144102 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -838.2638398648289, + -1451.534684627162, + 31.750462968144102 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -836.7638398648289, + -1454.1327608385154, + 31.750462968144102 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -835.2638398648289, + -1456.7308370498688, + 31.750462968144102 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -833.7638398648289, + -1459.3289132612222, + 31.750462968144102 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -832.2638398648289, + -1461.9269894725755, + 31.750462968144102 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -830.7638398648289, + -1464.525065683929, + 31.750462968144102 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -829.2638398648289, + -1467.1231418952823, + 31.750462968144102 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -827.7638398648289, + -1469.7212181066357, + 31.750462968144102 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -826.2638398648289, + -1472.319294317989, + 31.750462968144102 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -826.2638398648289, + -1472.319294317989, + 31.750462968144102 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -823.6657636534756, + -1473.819294317989, + 31.750462968144102 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -821.0676874421222, + -1475.319294317989, + 31.750462968144102 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -818.4696112307688, + -1476.819294317989, + 31.750462968144102 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -815.8715350194154, + -1478.319294317989, + 31.750462968144102 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -813.2734588080621, + -1479.819294317989, + 31.750462968144102 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -810.6753825967087, + -1481.319294317989, + 31.750462968144102 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -808.0773063853553, + -1482.819294317989, + 31.750462968144102 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -805.4792301740019, + -1484.319294317989, + 31.750462968144102 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -802.8811539626486, + -1485.819294317989, + 31.750462968144102 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -800.2830777512952, + -1487.319294317989, + 31.750462968144102 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -796.0, + -1500.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_2-34-21_362575055/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_2-34-21_362575055/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..50c02477868822bcd7780f23b79e602c44cd2c04 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_2-34-21_362575055/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 831.0085013454258, + -1781.579247193643, + 31.26060893585217 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 829.5085013454258, + -1778.9811709822895, + 31.26060893585217 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 828.0085013454258, + -1776.3830947709362, + 31.26060893585217 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 826.5085013454258, + -1773.7850185595828, + 31.26060893585217 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 826.5085013454258, + -1773.7850185595828, + 31.26060893585217 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 823.9104251340725, + -1772.2850185595828, + 31.26060893585217 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 821.3123489227191, + -1770.7850185595828, + 31.26060893585217 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 818.7142727113658, + -1769.2850185595828, + 31.26060893585217 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 816.1161965000124, + -1767.7850185595828, + 31.26060893585217 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 813.518120288659, + -1766.2850185595828, + 31.26060893585217 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 810.9200440773056, + -1764.7850185595828, + 31.26060893585217 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 808.3219678659523, + -1763.2850185595828, + 31.26060893585217 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 805.7238916545989, + -1761.7850185595828, + 31.26060893585217 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 803.1258154432455, + -1760.2850185595828, + 31.26060893585217 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 800.5277392318922, + -1758.7850185595828, + 31.26060893585217 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 800.5277392318922, + -1758.7850185595828, + 31.26060893585217 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 797.5277392318922, + -1758.7850185595828, + 31.26060893585217 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 794.5277392318922, + -1758.7850185595828, + 31.26060893585217 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 791.5277392318922, + -1758.7850185595828, + 31.26060893585217 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 788.5277392318922, + -1758.7850185595828, + 31.26060893585217 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 785.5277392318922, + -1758.7850185595828, + 31.26060893585217 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 782.5277392318922, + -1758.7850185595828, + 31.26060893585217 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 779.5277392318922, + -1758.7850185595828, + 31.26060893585217 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 776.5277392318922, + -1758.7850185595828, + 31.26060893585217 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 773.5277392318922, + -1758.7850185595828, + 31.26060893585217 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 770.5277392318922, + -1758.7850185595828, + 31.26060893585217 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 767.5277392318922, + -1758.7850185595828, + 31.26060893585217 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 764.5277392318922, + -1758.7850185595828, + 31.26060893585217 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 761.5277392318922, + -1758.7850185595828, + 31.26060893585217 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 758.5277392318922, + -1758.7850185595828, + 31.26060893585217 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 755.5277392318922, + -1758.7850185595828, + 31.26060893585217 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 752.5277392318922, + -1758.7850185595828, + 31.26060893585217 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 749.5277392318922, + -1758.7850185595828, + 31.26060893585217 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 746.5277392318922, + -1758.7850185595828, + 31.26060893585217 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 743.5277392318922, + -1758.7850185595828, + 31.26060893585217 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 740.5277392318922, + -1758.7850185595828, + 31.26060893585217 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 737.5277392318922, + -1758.7850185595828, + 31.26060893585217 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 734.5277392318922, + -1758.7850185595828, + 31.26060893585217 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 731.5277392318922, + -1758.7850185595828, + 31.26060893585217 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 728.5277392318922, + -1758.7850185595828, + 31.26060893585217 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 728.5277392318922, + -1758.7850185595828, + 31.26060893585217 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 725.9296630205388, + -1760.2850185595828, + 31.26060893585217 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 723.3315868091854, + -1761.7850185595828, + 31.26060893585217 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 720.733510597832, + -1763.2850185595828, + 31.26060893585217 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 718.1354343864787, + -1764.7850185595828, + 31.26060893585217 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 715.5373581751253, + -1766.2850185595828, + 31.26060893585217 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 712.9392819637719, + -1767.7850185595828, + 31.26060893585217 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 710.3412057524185, + -1769.2850185595828, + 31.26060893585217 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 707.7431295410652, + -1770.7850185595828, + 31.26060893585217 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 705.1450533297118, + -1772.2850185595828, + 31.26060893585217 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 702.5469771183584, + -1773.7850185595828, + 31.26060893585217 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 699.948900907005, + -1775.2850185595828, + 31.26060893585217 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 656.0, + -1776.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_2-41-10_35756851/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_2-41-10_35756851/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bd0e59de3dad63f797a8e40537a3fa22b78a3495 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_2-41-10_35756851/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1770.6196388795029, + -1486.0546076123544, + 39.21650138214301 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1768.0215626681495, + -1487.5546076123544, + 39.21650138214301 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1765.4234864567961, + -1489.0546076123544, + 39.21650138214301 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1762.8254102454428, + -1490.5546076123544, + 39.21650138214301 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1760.2273340340894, + -1492.0546076123544, + 39.21650138214301 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1757.629257822736, + -1493.5546076123544, + 39.21650138214301 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1755.0311816113826, + -1495.0546076123544, + 39.21650138214301 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1752.4331054000293, + -1496.5546076123544, + 39.21650138214301 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1749.835029188676, + -1498.0546076123544, + 39.21650138214301 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1747.2369529773225, + -1499.5546076123544, + 39.21650138214301 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1744.6388767659691, + -1501.0546076123544, + 39.21650138214301 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1742.0408005546158, + -1502.5546076123544, + 39.21650138214301 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1739.4427243432624, + -1504.0546076123544, + 39.21650138214301 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1736.844648131909, + -1505.5546076123544, + 39.21650138214301 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1734.2465719205557, + -1507.0546076123544, + 39.21650138214301 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1731.6484957092023, + -1508.5546076123544, + 39.21650138214301 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1729.050419497849, + -1510.0546076123544, + 39.21650138214301 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1726.4523432864955, + -1511.5546076123544, + 39.21650138214301 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1723.8542670751422, + -1513.0546076123544, + 39.21650138214301 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1721.2561908637888, + -1514.5546076123544, + 39.21650138214301 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1718.6581146524354, + -1516.0546076123544, + 39.21650138214301 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1716.060038441082, + -1517.5546076123544, + 39.21650138214301 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1713.4619622297287, + -1519.0546076123544, + 39.21650138214301 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1710.8638860183753, + -1520.5546076123544, + 39.21650138214301 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1708.265809807022, + -1522.0546076123544, + 39.21650138214301 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1705.6677335956686, + -1523.5546076123544, + 39.21650138214301 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1703.0696573843152, + -1525.0546076123544, + 39.21650138214301 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1700.4715811729618, + -1526.5546076123544, + 39.21650138214301 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1697.8735049616084, + -1528.0546076123544, + 39.21650138214301 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1695.275428750255, + -1529.5546076123544, + 39.21650138214301 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1692.6773525389017, + -1531.0546076123544, + 39.21650138214301 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1690.0792763275483, + -1532.5546076123544, + 39.21650138214301 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1687.481200116195, + -1534.0546076123544, + 39.21650138214301 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1684.8831239048416, + -1535.5546076123544, + 39.21650138214301 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1682.2850476934882, + -1537.0546076123544, + 39.21650138214301 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1679.6869714821348, + -1538.5546076123544, + 39.21650138214301 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1677.0888952707814, + -1540.0546076123544, + 39.21650138214301 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1674.490819059428, + -1541.5546076123544, + 39.21650138214301 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1671.8927428480747, + -1543.0546076123544, + 39.21650138214301 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1669.2946666367213, + -1544.5546076123544, + 39.21650138214301 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1666.696590425368, + -1546.0546076123544, + 39.21650138214301 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1664.0985142140146, + -1547.5546076123544, + 39.21650138214301 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1661.5004380026612, + -1549.0546076123544, + 39.21650138214301 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1661.5004380026612, + -1549.0546076123544, + 39.21650138214301 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1658.5004380026612, + -1549.0546076123544, + 39.21650138214301 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1655.5004380026612, + -1549.0546076123544, + 39.21650138214301 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1652.5004380026612, + -1549.0546076123544, + 39.21650138214301 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1649.5004380026612, + -1549.0546076123544, + 39.21650138214301 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1646.5004380026612, + -1549.0546076123544, + 39.21650138214301 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1643.5004380026612, + -1549.0546076123544, + 39.21650138214301 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1640.5004380026612, + -1549.0546076123544, + 39.21650138214301 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1637.5004380026612, + -1549.0546076123544, + 39.21650138214301 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1634.5004380026612, + -1549.0546076123544, + 39.21650138214301 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1631.5004380026612, + -1549.0546076123544, + 39.21650138214301 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1612.0, + -1556.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_2-46-26_952062949/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_2-46-26_952062949/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b51f5995f3506e653df3322ce329f6dfe66b3df0 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_2-46-26_952062949/pose.jsonl @@ -0,0 +1,951 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -347.28499978208697, + 86.06723340364462, + 34.640208713183 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -345.78499978208697, + 83.4691571922913, + 34.640208713183 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -344.28499978208697, + 80.87108098093799, + 34.640208713183 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -342.78499978208697, + 78.27300476958467, + 34.640208713183 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -341.28499978208697, + 75.67492855823136, + 34.640208713183 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -341.28499978208697, + 75.67492855823136, + 34.640208713183 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -338.68692357073365, + 74.17492855823136, + 34.640208713183 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -336.08884735938034, + 72.67492855823136, + 34.640208713183 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -333.490771148027, + 71.17492855823136, + 34.640208713183 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -333.490771148027, + 71.17492855823136, + 34.640208713183 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -330.490771148027, + 71.17492855823136, + 34.640208713183 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -327.490771148027, + 71.17492855823136, + 34.640208713183 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -324.490771148027, + 71.17492855823136, + 34.640208713183 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -324.490771148027, + 71.17492855823136, + 34.640208713183 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -321.8926949366737, + 72.67492855823136, + 34.640208713183 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -319.2946187253204, + 74.17492855823136, + 34.640208713183 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -316.6965425139671, + 75.67492855823136, + 34.640208713183 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -314.09846630261376, + 77.17492855823136, + 34.640208713183 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -311.50039009126044, + 78.67492855823136, + 34.640208713183 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -308.9023138799071, + 80.17492855823136, + 34.640208713183 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -306.3042376685538, + 81.67492855823136, + 34.640208713183 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -303.7061614572005, + 83.17492855823136, + 34.640208713183 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -301.1080852458472, + 84.67492855823136, + 34.640208713183 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -298.51000903449386, + 86.17492855823136, + 34.640208713183 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -295.91193282314055, + 87.67492855823136, + 34.640208713183 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -295.91193282314055, + 87.67492855823136, + 34.640208713183 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -295.91193282314055, + 87.67492855823136, + 34.640208713183 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -295.91193282314055, + 90.67492855823136, + 34.640208713183 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -295.91193282314055, + 93.67492855823136, + 34.640208713183 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -295.91193282314055, + 96.67492855823136, + 34.640208713183 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -295.91193282314055, + 99.67492855823136, + 34.640208713183 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -295.91193282314055, + 102.67492855823136, + 34.640208713183 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -295.91193282314055, + 105.67492855823136, + 34.640208713183 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -295.91193282314055, + 108.67492855823136, + 34.640208713183 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -295.91193282314055, + 111.67492855823136, + 34.640208713183 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -295.91193282314055, + 114.67492855823136, + 34.640208713183 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -295.91193282314055, + 117.67492855823136, + 34.640208713183 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -295.91193282314055, + 120.67492855823136, + 34.640208713183 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -295.91193282314055, + 123.67492855823136, + 34.640208713183 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -295.91193282314055, + 126.67492855823136, + 34.640208713183 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -295.91193282314055, + 129.67492855823136, + 34.640208713183 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -295.91193282314055, + 132.67492855823136, + 34.640208713183 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -295.91193282314055, + 135.67492855823136, + 34.640208713183 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -295.91193282314055, + 138.67492855823136, + 34.640208713183 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -295.91193282314055, + 141.67492855823136, + 34.640208713183 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -295.91193282314055, + 144.67492855823136, + 34.640208713183 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -295.91193282314055, + 147.67492855823136, + 34.640208713183 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -295.91193282314055, + 150.67492855823136, + 34.640208713183 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -295.91193282314055, + 150.67492855823136, + 34.640208713183 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -295.91193282314055, + 150.67492855823136, + 34.640208713183 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -298.51000903449386, + 152.17492855823136, + 34.640208713183 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -301.1080852458472, + 153.67492855823136, + 34.640208713183 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -301.1080852458472, + 153.67492855823136, + 34.640208713183 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -302.6080852458472, + 156.27300476958467, + 34.640208713183 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -304.1080852458472, + 158.871080980938, + 34.640208713183 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -305.6080852458472, + 161.4691571922913, + 34.640208713183 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -307.1080852458472, + 164.06723340364462, + 34.640208713183 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -308.6080852458472, + 166.66530961499794, + 34.640208713183 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -310.1080852458472, + 169.26338582635125, + 34.640208713183 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -311.6080852458472, + 171.86146203770457, + 34.640208713183 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -313.1080852458472, + 174.45953824905789, + 34.640208713183 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -314.6080852458472, + 177.0576144604112, + 34.640208713183 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -316.1080852458472, + 179.65569067176452, + 34.640208713183 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -317.6080852458472, + 182.25376688311783, + 34.640208713183 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -319.1080852458472, + 184.85184309447115, + 34.640208713183 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -320.6080852458472, + 187.44991930582447, + 34.640208713183 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -322.1080852458472, + 190.04799551717778, + 34.640208713183 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -323.6080852458472, + 192.6460717285311, + 34.640208713183 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -325.1080852458472, + 195.2441479398844, + 34.640208713183 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + -326.6080852458472, + 197.84222415123773, + 34.640208713183 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + -328.1080852458472, + 200.44030036259105, + 34.640208713183 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + -329.6080852458472, + 203.03837657394436, + 34.640208713183 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -320.0, + 256.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_2-55-59_537322532/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_2-55-59_537322532/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bd28cc37f332918abe94d3849823b9289d6e0bff --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_2-55-59_537322532/pose.jsonl @@ -0,0 +1,210 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1725.2538661593871, + -796.8150020921486, + 39.465464496473444 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1728.2538661593871, + -796.8150020921486, + 39.465464496473444 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1731.2538661593871, + -796.8150020921486, + 39.465464496473444 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1734.2538661593871, + -796.8150020921486, + 39.465464496473444 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1737.2538661593871, + -796.8150020921486, + 39.465464496473444 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1740.2538661593871, + -796.8150020921486, + 39.465464496473444 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1743.2538661593871, + -796.8150020921486, + 39.465464496473444 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1743.2538661593871, + -796.8150020921486, + 39.465464496473444 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1745.8519423707405, + -795.3150020921486, + 39.465464496473444 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1748.450018582094, + -793.8150020921486, + 39.465464496473444 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1751.0480947934473, + -792.3150020921486, + 39.465464496473444 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1753.6461710048006, + -790.8150020921486, + 39.465464496473444 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1756.244247216154, + -789.3150020921486, + 39.465464496473444 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1758.8423234275074, + -787.8150020921486, + 39.465464496473444 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1761.4403996388608, + -786.3150020921486, + 39.465464496473444 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1868.0, + -748.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_2-59-10_1140384172/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_2-59-10_1140384172/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1375b5bef076898da34276f79f404ed44995ca4a --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_2-59-10_1140384172/pose.jsonl @@ -0,0 +1,418 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1614.2673612072995, + 1712.624978206179, + 33.114860364510676 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1615.7673612072995, + 1715.2230544175325, + 33.114860364510676 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1617.2673612072995, + 1717.8211306288858, + 33.114860364510676 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1618.7673612072995, + 1720.4192068402392, + 33.114860364510676 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1620.2673612072995, + 1723.0172830515926, + 33.114860364510676 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1621.7673612072995, + 1725.615359262946, + 33.114860364510676 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1621.7673612072995, + 1725.615359262946, + 33.114860364510676 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1621.7673612072995, + 1728.615359262946, + 33.114860364510676 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1621.7673612072995, + 1731.615359262946, + 33.114860364510676 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1621.7673612072995, + 1734.615359262946, + 33.114860364510676 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1621.7673612072995, + 1737.615359262946, + 33.114860364510676 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1621.7673612072995, + 1740.615359262946, + 33.114860364510676 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1621.7673612072995, + 1743.615359262946, + 33.114860364510676 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1621.7673612072995, + 1746.615359262946, + 33.114860364510676 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1621.7673612072995, + 1749.615359262946, + 33.114860364510676 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1621.7673612072995, + 1752.615359262946, + 33.114860364510676 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1621.7673612072995, + 1755.615359262946, + 33.114860364510676 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1621.7673612072995, + 1758.615359262946, + 33.114860364510676 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1621.7673612072995, + 1761.615359262946, + 33.114860364510676 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1621.7673612072995, + 1764.615359262946, + 33.114860364510676 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1621.7673612072995, + 1767.615359262946, + 33.114860364510676 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1621.7673612072995, + 1770.615359262946, + 33.114860364510676 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1621.7673612072995, + 1773.615359262946, + 33.114860364510676 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1621.7673612072995, + 1773.615359262946, + 33.114860364510676 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1621.7673612072995, + 1773.615359262946, + 33.114860364510676 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1624.3654374186528, + 1775.115359262946, + 33.114860364510676 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1626.9635136300062, + 1776.615359262946, + 33.114860364510676 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1629.5615898413596, + 1778.115359262946, + 33.114860364510676 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1632.159666052713, + 1779.615359262946, + 33.114860364510676 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1634.7577422640663, + 1781.115359262946, + 33.114860364510676 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1637.3558184754197, + 1782.615359262946, + 33.114860364510676 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1660.0, + 1864.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_20-19-47_1312712376/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_20-19-47_1312712376/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ecc8be1c7d00d340a66e8e2bc0583446bc9c7900 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_20-19-47_1312712376/pose.jsonl @@ -0,0 +1,769 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1659.0422390369001, + -1650.057116755535, + 37.87735168219129 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1656.4441628255468, + -1648.557116755535, + 37.87735168219129 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1653.8460866141934, + -1647.057116755535, + 37.87735168219129 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1651.24801040284, + -1645.557116755535, + 37.87735168219129 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1648.6499341914866, + -1644.057116755535, + 37.87735168219129 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1646.0518579801333, + -1642.557116755535, + 37.87735168219129 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1643.45378176878, + -1641.057116755535, + 37.87735168219129 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1643.45378176878, + -1641.057116755535, + 37.87735168219129 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1640.45378176878, + -1641.057116755535, + 37.87735168219129 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1637.45378176878, + -1641.057116755535, + 37.87735168219129 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1634.45378176878, + -1641.057116755535, + 37.87735168219129 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1631.45378176878, + -1641.057116755535, + 37.87735168219129 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1628.45378176878, + -1641.057116755535, + 37.87735168219129 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1625.45378176878, + -1641.057116755535, + 37.87735168219129 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1622.45378176878, + -1641.057116755535, + 37.87735168219129 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1619.45378176878, + -1641.057116755535, + 37.87735168219129 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1616.45378176878, + -1641.057116755535, + 37.87735168219129 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1613.45378176878, + -1641.057116755535, + 37.87735168219129 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1610.45378176878, + -1641.057116755535, + 37.87735168219129 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1607.45378176878, + -1641.057116755535, + 37.87735168219129 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1604.45378176878, + -1641.057116755535, + 37.87735168219129 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1601.45378176878, + -1641.057116755535, + 37.87735168219129 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1598.45378176878, + -1641.057116755535, + 37.87735168219129 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1598.45378176878, + -1641.057116755535, + 37.87735168219129 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1598.45378176878, + -1641.057116755535, + 37.87735168219129 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1596.95378176878, + -1638.4590405441816, + 37.87735168219129 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1595.45378176878, + -1635.8609643328282, + 37.87735168219129 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1593.95378176878, + -1633.2628881214748, + 37.87735168219129 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1592.45378176878, + -1630.6648119101214, + 37.87735168219129 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1590.95378176878, + -1628.066735698768, + 37.87735168219129 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1589.45378176878, + -1625.4686594874147, + 37.87735168219129 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1587.95378176878, + -1622.8705832760613, + 37.87735168219129 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1586.45378176878, + -1620.272507064708, + 37.87735168219129 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1584.95378176878, + -1617.6744308533546, + 37.87735168219129 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1583.45378176878, + -1615.0763546420012, + 37.87735168219129 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1581.95378176878, + -1612.4782784306478, + 37.87735168219129 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1580.45378176878, + -1609.8802022192945, + 37.87735168219129 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1578.95378176878, + -1607.282126007941, + 37.87735168219129 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1577.45378176878, + -1604.6840497965877, + 37.87735168219129 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1575.95378176878, + -1602.0859735852343, + 37.87735168219129 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1574.45378176878, + -1599.487897373881, + 37.87735168219129 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1572.95378176878, + -1596.8898211625276, + 37.87735168219129 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1571.45378176878, + -1594.2917449511742, + 37.87735168219129 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1569.95378176878, + -1591.6936687398209, + 37.87735168219129 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1569.95378176878, + -1591.6936687398209, + 37.87735168219129 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1567.3557055574265, + -1590.1936687398209, + 37.87735168219129 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1564.7576293460731, + -1588.6936687398209, + 37.87735168219129 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1562.1595531347198, + -1587.1936687398209, + 37.87735168219129 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1559.5614769233664, + -1585.6936687398209, + 37.87735168219129 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1556.963400712013, + -1584.1936687398209, + 37.87735168219129 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1554.3653245006597, + -1582.6936687398209, + 37.87735168219129 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1551.7672482893063, + -1581.1936687398209, + 37.87735168219129 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1549.169172077953, + -1579.6936687398209, + 37.87735168219129 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1546.5710958665995, + -1578.1936687398209, + 37.87735168219129 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1543.9730196552462, + -1576.6936687398209, + 37.87735168219129 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1541.3749434438928, + -1575.1936687398209, + 37.87735168219129 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1538.7768672325394, + -1573.6936687398209, + 37.87735168219129 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1536.178791021186, + -1572.1936687398209, + 37.87735168219129 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1508.0, + -1556.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_20-21-2_969069027/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_20-21-2_969069027/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cec730a34781cdd6ab2ff4e64e1f1514b03a8907 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_20-21-2_969069027/pose.jsonl @@ -0,0 +1,483 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1579.157845362604, + 645.4620934778925, + 34.58792856163058 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1576.5597691512505, + 646.9620934778925, + 34.58792856163058 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1573.9616929398971, + 648.4620934778925, + 34.58792856163058 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1571.3636167285438, + 649.9620934778925, + 34.58792856163058 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1568.7655405171904, + 651.4620934778925, + 34.58792856163058 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1566.167464305837, + 652.9620934778925, + 34.58792856163058 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1563.5693880944837, + 654.4620934778925, + 34.58792856163058 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1560.9713118831303, + 655.9620934778925, + 34.58792856163058 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1558.373235671777, + 657.4620934778925, + 34.58792856163058 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1555.7751594604235, + 658.9620934778925, + 34.58792856163058 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1553.1770832490702, + 660.4620934778925, + 34.58792856163058 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1550.5790070377168, + 661.9620934778925, + 34.58792856163058 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1547.9809308263634, + 663.4620934778925, + 34.58792856163058 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1545.38285461501, + 664.9620934778925, + 34.58792856163058 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1545.38285461501, + 664.9620934778925, + 34.58792856163058 + ], + "type": "turn left", + "value": 30, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1545.38285461501, + 664.9620934778925, + 34.58792856163058 + ], + "type": "go straight", + "value": 3, + "yaw": 1.570796326794887 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1545.38285461501, + 667.9620934778925, + 34.58792856163058 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1545.38285461501, + 670.9620934778925, + 34.58792856163058 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1545.38285461501, + 673.9620934778925, + 34.58792856163058 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1545.38285461501, + 676.9620934778925, + 34.58792856163058 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1545.38285461501, + 679.9620934778925, + 34.58792856163058 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1545.38285461501, + 682.9620934778925, + 34.58792856163058 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1545.38285461501, + 685.9620934778925, + 34.58792856163058 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1545.38285461501, + 688.9620934778925, + 34.58792856163058 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1545.38285461501, + 691.9620934778925, + 34.58792856163058 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1545.38285461501, + 694.9620934778925, + 34.58792856163058 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1545.38285461501, + 697.9620934778925, + 34.58792856163058 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1545.38285461501, + 700.9620934778925, + 34.58792856163058 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1545.38285461501, + 703.9620934778925, + 34.58792856163058 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1545.38285461501, + 706.9620934778925, + 34.58792856163058 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1545.38285461501, + 709.9620934778925, + 34.58792856163058 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1545.38285461501, + 712.9620934778925, + 34.58792856163058 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1545.38285461501, + 715.9620934778925, + 34.58792856163058 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1545.38285461501, + 718.9620934778925, + 34.58792856163058 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1545.38285461501, + 721.9620934778925, + 34.58792856163058 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1545.38285461501, + 724.9620934778925, + 34.58792856163058 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1516.0, + 788.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_20-9-4_1116391568/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_20-9-4_1116391568/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..58a31d66d8ce2ace9e12090c6673dae6055c0c44 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_20-9-4_1116391568/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1642.923699452725, + -1009.3510220274352, + 30.809043302348815 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1645.5217756640784, + -1007.8510220274352, + 30.809043302348815 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1645.5217756640784, + -1007.8510220274352, + 30.809043302348815 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1647.0217756640784, + -1005.2529458160818, + 30.809043302348815 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1647.0217756640784, + -1005.2529458160818, + 30.809043302348815 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1649.6198518754318, + -1003.7529458160818, + 30.809043302348815 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1652.2179280867852, + -1002.2529458160818, + 30.809043302348815 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1654.8160042981385, + -1000.7529458160818, + 30.809043302348815 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1657.414080509492, + -999.2529458160818, + 30.809043302348815 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1660.0121567208453, + -997.7529458160818, + 30.809043302348815 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1662.6102329321986, + -996.2529458160818, + 30.809043302348815 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1665.208309143552, + -994.7529458160818, + 30.809043302348815 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1667.8063853549054, + -993.2529458160818, + 30.809043302348815 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1670.4044615662588, + -991.7529458160818, + 30.809043302348815 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1673.0025377776121, + -990.2529458160818, + 30.809043302348815 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1675.6006139889655, + -988.7529458160818, + 30.809043302348815 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1678.1986902003189, + -987.2529458160818, + 30.809043302348815 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1680.7967664116723, + -985.7529458160818, + 30.809043302348815 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1683.3948426230256, + -984.2529458160818, + 30.809043302348815 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1685.992918834379, + -982.7529458160818, + 30.809043302348815 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1688.5909950457324, + -981.2529458160818, + 30.809043302348815 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1691.1890712570857, + -979.7529458160818, + 30.809043302348815 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1693.7871474684391, + -978.2529458160818, + 30.809043302348815 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1696.3852236797925, + -976.7529458160818, + 30.809043302348815 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1698.9832998911459, + -975.2529458160818, + 30.809043302348815 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1701.5813761024992, + -973.7529458160818, + 30.809043302348815 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1704.1794523138526, + -972.2529458160818, + 30.809043302348815 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1706.777528525206, + -970.7529458160818, + 30.809043302348815 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1709.3756047365594, + -969.2529458160818, + 30.809043302348815 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1711.9736809479127, + -967.7529458160818, + 30.809043302348815 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1714.571757159266, + -966.2529458160818, + 30.809043302348815 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1717.1698333706195, + -964.7529458160818, + 30.809043302348815 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1719.7679095819728, + -963.2529458160818, + 30.809043302348815 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1722.3659857933262, + -961.7529458160818, + 30.809043302348815 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1724.9640620046796, + -960.2529458160818, + 30.809043302348815 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1727.562138216033, + -958.7529458160818, + 30.809043302348815 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1730.1602144273863, + -957.2529458160818, + 30.809043302348815 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1732.7582906387397, + -955.7529458160818, + 30.809043302348815 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1735.356366850093, + -954.2529458160818, + 30.809043302348815 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1737.9544430614465, + -952.7529458160818, + 30.809043302348815 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1740.5525192727998, + -951.2529458160818, + 30.809043302348815 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1743.1505954841532, + -949.7529458160818, + 30.809043302348815 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1745.7486716955066, + -948.2529458160818, + 30.809043302348815 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1748.34674790686, + -946.7529458160818, + 30.809043302348815 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1750.9448241182133, + -945.2529458160818, + 30.809043302348815 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1753.5429003295667, + -943.7529458160818, + 30.809043302348815 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1756.14097654092, + -942.2529458160818, + 30.809043302348815 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1758.7390527522734, + -940.7529458160818, + 30.809043302348815 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1761.3371289636268, + -939.2529458160818, + 30.809043302348815 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1763.9352051749802, + -937.7529458160818, + 30.809043302348815 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1766.5332813863336, + -936.2529458160818, + 30.809043302348815 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1769.131357597687, + -934.7529458160818, + 30.809043302348815 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1784.0, + -924.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_21-26-51_1026488339/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_21-26-51_1026488339/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a938e53cfa8dd71bae1775d5cee8496b396d4036 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_21-26-51_1026488339/pose.jsonl @@ -0,0 +1,548 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 483.1466365352984, + -617.1456499218392, + 30.503195579133987 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 480.5485603239451, + -615.6456499218392, + 30.503195579133987 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 477.95048411259177, + -614.1456499218392, + 30.503195579133987 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 475.35240790123845, + -612.6456499218392, + 30.503195579133987 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 472.75433168988513, + -611.1456499218392, + 30.503195579133987 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 470.1562554785318, + -609.6456499218392, + 30.503195579133987 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 467.5581792671785, + -608.1456499218392, + 30.503195579133987 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 464.9601030558252, + -606.6456499218392, + 30.503195579133987 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 462.36202684447187, + -605.1456499218392, + 30.503195579133987 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 459.76395063311855, + -603.6456499218392, + 30.503195579133987 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 457.16587442176524, + -602.1456499218392, + 30.503195579133987 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 454.5677982104119, + -600.6456499218392, + 30.503195579133987 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 451.9697219990586, + -599.1456499218392, + 30.503195579133987 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 449.3716457877053, + -597.6456499218392, + 30.503195579133987 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 446.773569576352, + -596.1456499218392, + 30.503195579133987 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 444.17549336499866, + -594.6456499218392, + 30.503195579133987 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 441.57741715364534, + -593.1456499218392, + 30.503195579133987 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 441.57741715364534, + -593.1456499218392, + 30.503195579133987 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 438.57741715364534, + -593.1456499218392, + 30.503195579133987 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 435.57741715364534, + -593.1456499218392, + 30.503195579133987 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 432.57741715364534, + -593.1456499218392, + 30.503195579133987 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 429.57741715364534, + -593.1456499218392, + 30.503195579133987 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 426.57741715364534, + -593.1456499218392, + 30.503195579133987 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 423.57741715364534, + -593.1456499218392, + 30.503195579133987 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 420.57741715364534, + -593.1456499218392, + 30.503195579133987 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 417.57741715364534, + -593.1456499218392, + 30.503195579133987 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 414.57741715364534, + -593.1456499218392, + 30.503195579133987 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 411.57741715364534, + -593.1456499218392, + 30.503195579133987 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 408.57741715364534, + -593.1456499218392, + 30.503195579133987 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 405.57741715364534, + -593.1456499218392, + 30.503195579133987 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 402.57741715364534, + -593.1456499218392, + 30.503195579133987 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 399.57741715364534, + -593.1456499218392, + 30.503195579133987 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 396.57741715364534, + -593.1456499218392, + 30.503195579133987 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 393.57741715364534, + -593.1456499218392, + 30.503195579133987 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 390.57741715364534, + -593.1456499218392, + 30.503195579133987 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 387.57741715364534, + -593.1456499218392, + 30.503195579133987 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 384.57741715364534, + -593.1456499218392, + 30.503195579133987 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 381.57741715364534, + -593.1456499218392, + 30.503195579133987 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 378.57741715364534, + -593.1456499218392, + 30.503195579133987 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 375.57741715364534, + -593.1456499218392, + 30.503195579133987 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 372.57741715364534, + -593.1456499218392, + 30.503195579133987 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 332.0, + -584.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_21-29-35_1501659818/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_21-29-35_1501659818/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4c30c6441f776e9681b6613fba34b9f09a07dccb --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_21-29-35_1501659818/pose.jsonl @@ -0,0 +1,782 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1683.5732882079271, + -971.2866628418691, + 39.66696179195593 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1686.5732882079271, + -971.2866628418691, + 39.66696179195593 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1689.5732882079271, + -971.2866628418691, + 39.66696179195593 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1692.5732882079271, + -971.2866628418691, + 39.66696179195593 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1695.5732882079271, + -971.2866628418691, + 39.66696179195593 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1698.5732882079271, + -971.2866628418691, + 39.66696179195593 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1701.5732882079271, + -971.2866628418691, + 39.66696179195593 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1701.5732882079271, + -971.2866628418691, + 39.66696179195593 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1701.5732882079271, + -971.2866628418691, + 39.66696179195593 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1703.0732882079271, + -968.6885866305158, + 39.66696179195593 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1704.5732882079271, + -966.0905104191625, + 39.66696179195593 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1704.5732882079271, + -966.0905104191625, + 39.66696179195593 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1707.1713644192805, + -964.5905104191625, + 39.66696179195593 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1709.7694406306339, + -963.0905104191625, + 39.66696179195593 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1712.3675168419873, + -961.5905104191625, + 39.66696179195593 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1714.9655930533406, + -960.0905104191625, + 39.66696179195593 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1717.563669264694, + -958.5905104191625, + 39.66696179195593 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1720.1617454760474, + -957.0905104191625, + 39.66696179195593 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1722.7598216874007, + -955.5905104191625, + 39.66696179195593 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1722.7598216874007, + -955.5905104191625, + 39.66696179195593 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1724.2598216874007, + -952.9924342078091, + 39.66696179195593 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1725.7598216874007, + -950.3943579964557, + 39.66696179195593 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1727.2598216874007, + -947.7962817851023, + 39.66696179195593 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1728.7598216874007, + -945.198205573749, + 39.66696179195593 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1730.2598216874007, + -942.6001293623956, + 39.66696179195593 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1731.7598216874007, + -940.0020531510422, + 39.66696179195593 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1733.2598216874007, + -937.4039769396888, + 39.66696179195593 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1734.7598216874007, + -934.8059007283355, + 39.66696179195593 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1736.2598216874007, + -932.2078245169821, + 39.66696179195593 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1737.7598216874007, + -929.6097483056287, + 39.66696179195593 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1739.2598216874007, + -927.0116720942754, + 39.66696179195593 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1740.7598216874007, + -924.413595882922, + 39.66696179195593 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1742.2598216874007, + -921.8155196715686, + 39.66696179195593 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1743.7598216874007, + -919.2174434602152, + 39.66696179195593 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1745.2598216874007, + -916.6193672488619, + 39.66696179195593 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1746.7598216874007, + -914.0212910375085, + 39.66696179195593 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1748.2598216874007, + -911.4232148261551, + 39.66696179195593 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1749.7598216874007, + -908.8251386148017, + 39.66696179195593 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1751.2598216874007, + -906.2270624034484, + 39.66696179195593 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1751.2598216874007, + -906.2270624034484, + 39.66696179195593 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1751.2598216874007, + -903.2270624034484, + 39.66696179195593 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1751.2598216874007, + -900.2270624034484, + 39.66696179195593 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1751.2598216874007, + -897.2270624034484, + 39.66696179195593 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1751.2598216874007, + -894.2270624034484, + 39.66696179195593 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1751.2598216874007, + -891.2270624034484, + 39.66696179195593 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1751.2598216874007, + -888.2270624034484, + 39.66696179195593 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1751.2598216874007, + -885.2270624034484, + 39.66696179195593 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1751.2598216874007, + -882.2270624034484, + 39.66696179195593 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1751.2598216874007, + -879.2270624034484, + 39.66696179195593 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1751.2598216874007, + -876.2270624034484, + 39.66696179195593 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1751.2598216874007, + -873.2270624034484, + 39.66696179195593 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1751.2598216874007, + -870.2270624034484, + 39.66696179195593 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1751.2598216874007, + -867.2270624034484, + 39.66696179195593 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1751.2598216874007, + -864.2270624034484, + 39.66696179195593 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1751.2598216874007, + -861.2270624034484, + 39.66696179195593 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1751.2598216874007, + -858.2270624034484, + 39.66696179195593 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1751.2598216874007, + -855.2270624034484, + 39.66696179195593 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1751.2598216874007, + -852.2270624034484, + 39.66696179195593 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1751.2598216874007, + -849.2270624034484, + 39.66696179195593 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1764.0, + -832.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_21-30-30_1434895504/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_21-30-30_1434895504/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..655678af7d1612922948800211b9d6f8abd78d0c --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_21-30-30_1434895504/pose.jsonl @@ -0,0 +1,444 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1375.5097628712365, + 1099.4386867794985, + 39.07201013302076 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1377.0097628712365, + 1096.8406105681452, + 39.07201013302076 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1378.5097628712365, + 1094.2425343567918, + 39.07201013302076 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1380.0097628712365, + 1091.6444581454384, + 39.07201013302076 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1381.5097628712365, + 1089.046381934085, + 39.07201013302076 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1383.0097628712365, + 1086.4483057227317, + 39.07201013302076 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1384.5097628712365, + 1083.8502295113783, + 39.07201013302076 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1386.0097628712365, + 1081.252153300025, + 39.07201013302076 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1387.5097628712365, + 1078.6540770886716, + 39.07201013302076 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1389.0097628712365, + 1076.0560008773182, + 39.07201013302076 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1390.5097628712365, + 1073.4579246659648, + 39.07201013302076 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1392.0097628712365, + 1070.8598484546114, + 39.07201013302076 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1393.5097628712365, + 1068.261772243258, + 39.07201013302076 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1395.0097628712365, + 1065.6636960319047, + 39.07201013302076 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1396.5097628712365, + 1063.0656198205513, + 39.07201013302076 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1398.0097628712365, + 1060.467543609198, + 39.07201013302076 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1399.5097628712365, + 1057.8694673978446, + 39.07201013302076 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1401.0097628712365, + 1055.2713911864912, + 39.07201013302076 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1402.5097628712365, + 1052.6733149751378, + 39.07201013302076 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1404.0097628712365, + 1050.0752387637845, + 39.07201013302076 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1405.5097628712365, + 1047.477162552431, + 39.07201013302076 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1407.0097628712365, + 1044.8790863410777, + 39.07201013302076 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1408.5097628712365, + 1042.2810101297243, + 39.07201013302076 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1410.0097628712365, + 1039.682933918371, + 39.07201013302076 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1410.0097628712365, + 1039.682933918371, + 39.07201013302076 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1412.6078390825899, + 1038.182933918371, + 39.07201013302076 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1415.2059152939432, + 1036.682933918371, + 39.07201013302076 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1417.8039915052966, + 1035.182933918371, + 39.07201013302076 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1420.40206771665, + 1033.682933918371, + 39.07201013302076 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1423.0001439280034, + 1032.182933918371, + 39.07201013302076 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1425.5982201393567, + 1030.682933918371, + 39.07201013302076 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1428.19629635071, + 1029.182933918371, + 39.07201013302076 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1430.7943725620635, + 1027.682933918371, + 39.07201013302076 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1484.0, + 960.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_21-30-56_2006420005/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_21-30-56_2006420005/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0e890ffe3cefb10a5fbd9b5684b71d53149e0b8a --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_21-30-56_2006420005/pose.jsonl @@ -0,0 +1,769 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 893.9350318917432, + 791.1089889678335, + 31.113398505777955 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 895.4350318917432, + 788.5109127564801, + 31.113398505777955 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 896.9350318917432, + 785.9128365451268, + 31.113398505777955 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 898.4350318917432, + 783.3147603337734, + 31.113398505777955 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 899.9350318917432, + 780.71668412242, + 31.113398505777955 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 901.4350318917432, + 778.1186079110666, + 31.113398505777955 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 902.9350318917432, + 775.5205316997133, + 31.113398505777955 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 904.4350318917432, + 772.9224554883599, + 31.113398505777955 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 905.9350318917432, + 770.3243792770065, + 31.113398505777955 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 907.4350318917432, + 767.7263030656532, + 31.113398505777955 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 908.9350318917432, + 765.1282268542998, + 31.113398505777955 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 910.4350318917432, + 762.5301506429464, + 31.113398505777955 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 911.9350318917432, + 759.932074431593, + 31.113398505777955 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 913.4350318917432, + 757.3339982202397, + 31.113398505777955 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 914.9350318917432, + 754.7359220088863, + 31.113398505777955 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 916.4350318917432, + 752.1378457975329, + 31.113398505777955 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 917.9350318917432, + 749.5397695861795, + 31.113398505777955 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 919.4350318917432, + 746.9416933748262, + 31.113398505777955 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 920.9350318917432, + 744.3436171634728, + 31.113398505777955 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 922.4350318917432, + 741.7455409521194, + 31.113398505777955 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 923.9350318917432, + 739.147464740766, + 31.113398505777955 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 925.4350318917432, + 736.5493885294127, + 31.113398505777955 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 926.9350318917432, + 733.9513123180593, + 31.113398505777955 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 928.4350318917432, + 731.3532361067059, + 31.113398505777955 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 929.9350318917432, + 728.7551598953526, + 31.113398505777955 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 931.4350318917432, + 726.1570836839992, + 31.113398505777955 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 932.9350318917432, + 723.5590074726458, + 31.113398505777955 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 934.4350318917432, + 720.9609312612924, + 31.113398505777955 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 935.9350318917432, + 718.3628550499391, + 31.113398505777955 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 935.9350318917432, + 718.3628550499391, + 31.113398505777955 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 935.9350318917432, + 715.3628550499391, + 31.113398505777955 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 935.9350318917432, + 712.3628550499391, + 31.113398505777955 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 935.9350318917432, + 709.3628550499391, + 31.113398505777955 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 935.9350318917432, + 706.3628550499391, + 31.113398505777955 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 935.9350318917432, + 703.3628550499391, + 31.113398505777955 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 935.9350318917432, + 700.3628550499391, + 31.113398505777955 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 935.9350318917432, + 697.3628550499391, + 31.113398505777955 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 935.9350318917432, + 694.3628550499391, + 31.113398505777955 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 935.9350318917432, + 691.3628550499391, + 31.113398505777955 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 935.9350318917432, + 688.3628550499391, + 31.113398505777955 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 935.9350318917432, + 685.3628550499391, + 31.113398505777955 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 935.9350318917432, + 682.3628550499391, + 31.113398505777955 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 935.9350318917432, + 679.3628550499391, + 31.113398505777955 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 935.9350318917432, + 676.3628550499391, + 31.113398505777955 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 935.9350318917432, + 673.3628550499391, + 31.113398505777955 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 935.9350318917432, + 670.3628550499391, + 31.113398505777955 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 935.9350318917432, + 667.3628550499391, + 31.113398505777955 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 935.9350318917432, + 664.3628550499391, + 31.113398505777955 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 935.9350318917432, + 661.3628550499391, + 31.113398505777955 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 935.9350318917432, + 658.3628550499391, + 31.113398505777955 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 935.9350318917432, + 655.3628550499391, + 31.113398505777955 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 935.9350318917432, + 652.3628550499391, + 31.113398505777955 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 935.9350318917432, + 649.3628550499391, + 31.113398505777955 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 935.9350318917432, + 646.3628550499391, + 31.113398505777955 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 935.9350318917432, + 643.3628550499391, + 31.113398505777955 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 935.9350318917432, + 640.3628550499391, + 31.113398505777955 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 935.9350318917432, + 637.3628550499391, + 31.113398505777955 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 935.9350318917432, + 634.3628550499391, + 31.113398505777955 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 940.0, + 620.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_21-35-20_1894600361/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_21-35-20_1894600361/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e7a0ab7ea5f508e24238e567f3f587eba4e38c9e --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_21-35-20_1894600361/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 422.0583986080874, + 699.4906555596491, + 39.24155002689689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 419.46032239673406, + 697.9906555596491, + 39.24155002689689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 416.86224618538074, + 696.4906555596491, + 39.24155002689689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 414.2641699740274, + 694.9906555596491, + 39.24155002689689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 411.6660937626741, + 693.4906555596491, + 39.24155002689689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 409.0680175513208, + 691.9906555596491, + 39.24155002689689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 406.4699413399675, + 690.4906555596491, + 39.24155002689689 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 406.4699413399675, + 690.4906555596491, + 39.24155002689689 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 403.4699413399675, + 690.4906555596491, + 39.24155002689689 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 400.4699413399675, + 690.4906555596491, + 39.24155002689689 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 397.4699413399675, + 690.4906555596491, + 39.24155002689689 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 397.4699413399675, + 690.4906555596491, + 39.24155002689689 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 397.4699413399675, + 690.4906555596491, + 39.24155002689689 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 395.9699413399675, + 693.0887317710024, + 39.24155002689689 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 394.4699413399675, + 695.6868079823557, + 39.24155002689689 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 392.9699413399675, + 698.2848841937091, + 39.24155002689689 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 391.4699413399675, + 700.8829604050625, + 39.24155002689689 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 389.9699413399675, + 703.4810366164158, + 39.24155002689689 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 388.4699413399675, + 706.0791128277692, + 39.24155002689689 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 386.9699413399675, + 708.6771890391226, + 39.24155002689689 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 385.4699413399675, + 711.275265250476, + 39.24155002689689 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 383.9699413399675, + 713.8733414618293, + 39.24155002689689 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 382.4699413399675, + 716.4714176731827, + 39.24155002689689 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 380.9699413399675, + 719.0694938845361, + 39.24155002689689 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 379.4699413399675, + 721.6675700958895, + 39.24155002689689 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 377.9699413399675, + 724.2656463072428, + 39.24155002689689 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 376.4699413399675, + 726.8637225185962, + 39.24155002689689 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 374.9699413399675, + 729.4617987299496, + 39.24155002689689 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 373.4699413399675, + 732.059874941303, + 39.24155002689689 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 371.9699413399675, + 734.6579511526563, + 39.24155002689689 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 370.4699413399675, + 737.2560273640097, + 39.24155002689689 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 368.9699413399675, + 739.8541035753631, + 39.24155002689689 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 367.4699413399675, + 742.4521797867164, + 39.24155002689689 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 367.4699413399675, + 742.4521797867164, + 39.24155002689689 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 367.4699413399675, + 745.4521797867164, + 39.24155002689689 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 367.4699413399675, + 748.4521797867164, + 39.24155002689689 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 367.4699413399675, + 751.4521797867164, + 39.24155002689689 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 367.4699413399675, + 754.4521797867164, + 39.24155002689689 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 367.4699413399675, + 757.4521797867164, + 39.24155002689689 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 367.4699413399675, + 760.4521797867164, + 39.24155002689689 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 367.4699413399675, + 763.4521797867164, + 39.24155002689689 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 367.4699413399675, + 766.4521797867164, + 39.24155002689689 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 367.4699413399675, + 769.4521797867164, + 39.24155002689689 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 367.4699413399675, + 772.4521797867164, + 39.24155002689689 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 367.4699413399675, + 775.4521797867164, + 39.24155002689689 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 367.4699413399675, + 778.4521797867164, + 39.24155002689689 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 367.4699413399675, + 781.4521797867164, + 39.24155002689689 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 367.4699413399675, + 784.4521797867164, + 39.24155002689689 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 367.4699413399675, + 787.4521797867164, + 39.24155002689689 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 367.4699413399675, + 790.4521797867164, + 39.24155002689689 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 367.4699413399675, + 793.4521797867164, + 39.24155002689689 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 367.4699413399675, + 796.4521797867164, + 39.24155002689689 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 367.4699413399675, + 799.4521797867164, + 39.24155002689689 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 367.4699413399675, + 802.4521797867164, + 39.24155002689689 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 344.0, + 848.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_21-37-52_643762327/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_21-37-52_643762327/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3fba6ff73fe2a79cf6a47389b75211b7c9053fdb --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_21-37-52_643762327/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1433.7568238020515, + -1134.2649218757626, + 37.25004463518364 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1436.3549000134049, + -1135.7649218757626, + 37.25004463518364 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1438.9529762247582, + -1137.2649218757626, + 37.25004463518364 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1441.5510524361116, + -1138.7649218757626, + 37.25004463518364 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1444.149128647465, + -1140.2649218757626, + 37.25004463518364 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1446.7472048588183, + -1141.7649218757626, + 37.25004463518364 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1449.3452810701717, + -1143.2649218757626, + 37.25004463518364 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1451.943357281525, + -1144.7649218757626, + 37.25004463518364 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1454.5414334928785, + -1146.2649218757626, + 37.25004463518364 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1457.1395097042318, + -1147.7649218757626, + 37.25004463518364 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1459.7375859155852, + -1149.2649218757626, + 37.25004463518364 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1462.3356621269386, + -1150.7649218757626, + 37.25004463518364 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1464.933738338292, + -1152.2649218757626, + 37.25004463518364 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1467.5318145496453, + -1153.7649218757626, + 37.25004463518364 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1470.1298907609987, + -1155.2649218757626, + 37.25004463518364 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1472.727966972352, + -1156.7649218757626, + 37.25004463518364 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1475.3260431837055, + -1158.2649218757626, + 37.25004463518364 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1477.9241193950588, + -1159.7649218757626, + 37.25004463518364 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1477.9241193950588, + -1159.7649218757626, + 37.25004463518364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1479.4241193950588, + -1162.362998087116, + 37.25004463518364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1480.9241193950588, + -1164.9610742984694, + 37.25004463518364 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1480.9241193950588, + -1164.9610742984694, + 37.25004463518364 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1483.5221956064122, + -1166.4610742984694, + 37.25004463518364 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1486.1202718177656, + -1167.9610742984694, + 37.25004463518364 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1488.718348029119, + -1169.4610742984694, + 37.25004463518364 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1491.3164242404723, + -1170.9610742984694, + 37.25004463518364 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1493.9145004518257, + -1172.4610742984694, + 37.25004463518364 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1496.512576663179, + -1173.9610742984694, + 37.25004463518364 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1499.1106528745324, + -1175.4610742984694, + 37.25004463518364 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1501.7087290858858, + -1176.9610742984694, + 37.25004463518364 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1504.3068052972392, + -1178.4610742984694, + 37.25004463518364 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1506.9048815085926, + -1179.9610742984694, + 37.25004463518364 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1509.502957719946, + -1181.4610742984694, + 37.25004463518364 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1509.502957719946, + -1181.4610742984694, + 37.25004463518364 + ], + "type": "go straight", + "value": 3, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1512.502957719946, + -1181.4610742984694, + 37.25004463518364 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1515.502957719946, + -1181.4610742984694, + 37.25004463518364 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1518.502957719946, + -1181.4610742984694, + 37.25004463518364 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1521.502957719946, + -1181.4610742984694, + 37.25004463518364 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1524.502957719946, + -1181.4610742984694, + 37.25004463518364 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1527.502957719946, + -1181.4610742984694, + 37.25004463518364 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1530.502957719946, + -1181.4610742984694, + 37.25004463518364 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1533.502957719946, + -1181.4610742984694, + 37.25004463518364 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1536.502957719946, + -1181.4610742984694, + 37.25004463518364 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1539.502957719946, + -1181.4610742984694, + 37.25004463518364 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1542.502957719946, + -1181.4610742984694, + 37.25004463518364 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1545.502957719946, + -1181.4610742984694, + 37.25004463518364 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1548.502957719946, + -1181.4610742984694, + 37.25004463518364 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1551.502957719946, + -1181.4610742984694, + 37.25004463518364 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1554.502957719946, + -1181.4610742984694, + 37.25004463518364 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1580.0, + -1192.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_21-42-6_1984048626/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_21-42-6_1984048626/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9560db37e500cd60b9fe00f152940d5c19308f85 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_21-42-6_1984048626/pose.jsonl @@ -0,0 +1,574 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1304.9845102773988, + -918.0338044491723, + 32.72084815387022 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1306.4845102773988, + -915.4357282378189, + 32.72084815387022 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1307.9845102773988, + -912.8376520264655, + 32.72084815387022 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1309.4845102773988, + -910.2395758151122, + 32.72084815387022 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1310.9845102773988, + -907.6414996037588, + 32.72084815387022 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1312.4845102773988, + -905.0434233924054, + 32.72084815387022 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1313.9845102773988, + -902.4453471810521, + 32.72084815387022 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1315.4845102773988, + -899.8472709696987, + 32.72084815387022 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1316.9845102773988, + -897.2491947583453, + 32.72084815387022 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1318.4845102773988, + -894.6511185469919, + 32.72084815387022 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1319.9845102773988, + -892.0530423356386, + 32.72084815387022 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1321.4845102773988, + -889.4549661242852, + 32.72084815387022 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1322.9845102773988, + -886.8568899129318, + 32.72084815387022 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1324.4845102773988, + -884.2588137015784, + 32.72084815387022 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1325.9845102773988, + -881.6607374902251, + 32.72084815387022 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1327.4845102773988, + -879.0626612788717, + 32.72084815387022 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1328.9845102773988, + -876.4645850675183, + 32.72084815387022 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1330.4845102773988, + -873.866508856165, + 32.72084815387022 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1331.9845102773988, + -871.2684326448116, + 32.72084815387022 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1333.4845102773988, + -868.6703564334582, + 32.72084815387022 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1334.9845102773988, + -866.0722802221048, + 32.72084815387022 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1336.4845102773988, + -863.4742040107515, + 32.72084815387022 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1337.9845102773988, + -860.8761277993981, + 32.72084815387022 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1339.4845102773988, + -858.2780515880447, + 32.72084815387022 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1340.9845102773988, + -855.6799753766913, + 32.72084815387022 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1342.4845102773988, + -853.081899165338, + 32.72084815387022 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1343.9845102773988, + -850.4838229539846, + 32.72084815387022 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1345.4845102773988, + -847.8857467426312, + 32.72084815387022 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1346.9845102773988, + -845.2876705312779, + 32.72084815387022 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1346.9845102773988, + -845.2876705312779, + 32.72084815387022 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1349.5825864887522, + -843.7876705312779, + 32.72084815387022 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1352.1806627001056, + -842.2876705312779, + 32.72084815387022 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1354.778738911459, + -840.7876705312779, + 32.72084815387022 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1357.3768151228123, + -839.2876705312779, + 32.72084815387022 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1359.9748913341657, + -837.7876705312779, + 32.72084815387022 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1362.572967545519, + -836.2876705312779, + 32.72084815387022 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1365.1710437568725, + -834.7876705312779, + 32.72084815387022 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1367.7691199682258, + -833.2876705312779, + 32.72084815387022 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1370.3671961795792, + -831.7876705312779, + 32.72084815387022 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1370.3671961795792, + -831.7876705312779, + 32.72084815387022 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1371.8671961795792, + -829.1895943199245, + 32.72084815387022 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1373.3671961795792, + -826.5915181085711, + 32.72084815387022 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1374.8671961795792, + -823.9934418972177, + 32.72084815387022 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1400.0, + -792.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_21-53-44_20084148/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_21-53-44_20084148/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d64e9d5cfc18123de7a02f44eb2d785e26225e2b --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_21-53-44_20084148/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 444.99423862082904, + -1595.888497107792, + 32.92492758930118 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 447.99423862082904, + -1595.888497107792, + 32.92492758930118 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 450.99423862082904, + -1595.888497107792, + 32.92492758930118 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 453.99423862082904, + -1595.888497107792, + 32.92492758930118 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 456.99423862082904, + -1595.888497107792, + 32.92492758930118 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 459.99423862082904, + -1595.888497107792, + 32.92492758930118 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 462.99423862082904, + -1595.888497107792, + 32.92492758930118 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 465.99423862082904, + -1595.888497107792, + 32.92492758930118 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 468.99423862082904, + -1595.888497107792, + 32.92492758930118 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 471.99423862082904, + -1595.888497107792, + 32.92492758930118 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 474.99423862082904, + -1595.888497107792, + 32.92492758930118 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 477.99423862082904, + -1595.888497107792, + 32.92492758930118 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 480.99423862082904, + -1595.888497107792, + 32.92492758930118 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 483.99423862082904, + -1595.888497107792, + 32.92492758930118 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 486.99423862082904, + -1595.888497107792, + 32.92492758930118 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 489.99423862082904, + -1595.888497107792, + 32.92492758930118 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 492.99423862082904, + -1595.888497107792, + 32.92492758930118 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 495.99423862082904, + -1595.888497107792, + 32.92492758930118 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 498.99423862082904, + -1595.888497107792, + 32.92492758930118 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 501.99423862082904, + -1595.888497107792, + 32.92492758930118 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 504.99423862082904, + -1595.888497107792, + 32.92492758930118 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 507.99423862082904, + -1595.888497107792, + 32.92492758930118 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 510.99423862082904, + -1595.888497107792, + 32.92492758930118 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 513.994238620829, + -1595.888497107792, + 32.92492758930118 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 516.994238620829, + -1595.888497107792, + 32.92492758930118 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 519.994238620829, + -1595.888497107792, + 32.92492758930118 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 522.994238620829, + -1595.888497107792, + 32.92492758930118 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 525.994238620829, + -1595.888497107792, + 32.92492758930118 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 528.994238620829, + -1595.888497107792, + 32.92492758930118 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 531.994238620829, + -1595.888497107792, + 32.92492758930118 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 534.994238620829, + -1595.888497107792, + 32.92492758930118 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 537.994238620829, + -1595.888497107792, + 32.92492758930118 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 540.994238620829, + -1595.888497107792, + 32.92492758930118 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 543.994238620829, + -1595.888497107792, + 32.92492758930118 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 546.994238620829, + -1595.888497107792, + 32.92492758930118 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 549.994238620829, + -1595.888497107792, + 32.92492758930118 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 552.994238620829, + -1595.888497107792, + 32.92492758930118 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 552.994238620829, + -1595.888497107792, + 32.92492758930118 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 552.994238620829, + -1595.888497107792, + 32.92492758930118 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 554.494238620829, + -1598.4865733191455, + 32.92492758930118 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 555.994238620829, + -1601.0846495304988, + 32.92492758930118 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 557.494238620829, + -1603.6827257418522, + 32.92492758930118 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 557.494238620829, + -1603.6827257418522, + 32.92492758930118 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 560.0923148321824, + -1605.1827257418522, + 32.92492758930118 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 562.6903910435358, + -1606.6827257418522, + 32.92492758930118 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 565.2884672548892, + -1608.1827257418522, + 32.92492758930118 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 567.8865434662425, + -1609.6827257418522, + 32.92492758930118 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 570.4846196775959, + -1611.1827257418522, + 32.92492758930118 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 573.0826958889493, + -1612.6827257418522, + 32.92492758930118 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 575.6807721003026, + -1614.1827257418522, + 32.92492758930118 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 578.278848311656, + -1615.6827257418522, + 32.92492758930118 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 580.8769245230094, + -1617.1827257418522, + 32.92492758930118 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 583.4750007343628, + -1618.6827257418522, + 32.92492758930118 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 586.0730769457161, + -1620.1827257418522, + 32.92492758930118 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 620.0, + -1628.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_22-10-41_475745488/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_22-10-41_475745488/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d4749f39aba24db89199e94a6a9addf0474f2937 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_22-10-41_475745488/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -8.18626221102673, + -538.8774368368095, + 32.02299569605104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -5.18626221102673, + -538.8774368368095, + 32.02299569605104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2.1862622110267296, + -538.8774368368095, + 32.02299569605104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 0.8137377889732704, + -538.8774368368095, + 32.02299569605104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3.8137377889732704, + -538.8774368368095, + 32.02299569605104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 6.81373778897327, + -538.8774368368095, + 32.02299569605104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 9.81373778897327, + -538.8774368368095, + 32.02299569605104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 12.81373778897327, + -538.8774368368095, + 32.02299569605104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 15.81373778897327, + -538.8774368368095, + 32.02299569605104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 18.81373778897327, + -538.8774368368095, + 32.02299569605104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 21.81373778897327, + -538.8774368368095, + 32.02299569605104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 24.81373778897327, + -538.8774368368095, + 32.02299569605104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 27.81373778897327, + -538.8774368368095, + 32.02299569605104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 30.81373778897327, + -538.8774368368095, + 32.02299569605104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 33.81373778897327, + -538.8774368368095, + 32.02299569605104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 36.81373778897327, + -538.8774368368095, + 32.02299569605104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 39.81373778897327, + -538.8774368368095, + 32.02299569605104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 42.81373778897327, + -538.8774368368095, + 32.02299569605104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 45.81373778897327, + -538.8774368368095, + 32.02299569605104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 48.81373778897327, + -538.8774368368095, + 32.02299569605104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 51.81373778897327, + -538.8774368368095, + 32.02299569605104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 54.81373778897327, + -538.8774368368095, + 32.02299569605104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 57.81373778897327, + -538.8774368368095, + 32.02299569605104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 60.81373778897327, + -538.8774368368095, + 32.02299569605104 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 60.81373778897327, + -538.8774368368095, + 32.02299569605104 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 60.81373778897327, + -538.8774368368095, + 32.02299569605104 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 62.31373778897327, + -541.4755130481628, + 32.02299569605104 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 63.81373778897327, + -544.0735892595162, + 32.02299569605104 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 65.31373778897327, + -546.6716654708696, + 32.02299569605104 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 65.31373778897327, + -546.6716654708696, + 32.02299569605104 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 67.91181400032659, + -548.1716654708696, + 32.02299569605104 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 70.5098902116799, + -549.6716654708696, + 32.02299569605104 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 73.10796642303322, + -551.1716654708696, + 32.02299569605104 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 75.70604263438653, + -552.6716654708696, + 32.02299569605104 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 78.30411884573985, + -554.1716654708696, + 32.02299569605104 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 80.90219505709317, + -555.6716654708696, + 32.02299569605104 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 83.50027126844648, + -557.1716654708696, + 32.02299569605104 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 86.0983474797998, + -558.6716654708696, + 32.02299569605104 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 88.69642369115311, + -560.1716654708696, + 32.02299569605104 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 91.29449990250643, + -561.6716654708696, + 32.02299569605104 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 93.89257611385975, + -563.1716654708696, + 32.02299569605104 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 96.49065232521306, + -564.6716654708696, + 32.02299569605104 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 99.08872853656638, + -566.1716654708696, + 32.02299569605104 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 101.6868047479197, + -567.6716654708696, + 32.02299569605104 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 104.28488095927301, + -569.1716654708696, + 32.02299569605104 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 106.88295717062633, + -570.6716654708696, + 32.02299569605104 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 109.48103338197964, + -572.1716654708696, + 32.02299569605104 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 112.07910959333296, + -573.6716654708696, + 32.02299569605104 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 114.67718580468627, + -575.1716654708696, + 32.02299569605104 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 117.27526201603959, + -576.6716654708696, + 32.02299569605104 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 119.8733382273929, + -578.1716654708696, + 32.02299569605104 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 122.47141443874622, + -579.6716654708696, + 32.02299569605104 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 125.06949065009954, + -581.1716654708696, + 32.02299569605104 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 127.66756686145285, + -582.6716654708696, + 32.02299569605104 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 152.0, + -588.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_22-15-55_928494151/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_22-15-55_928494151/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e3112245d4602ff75f3e9c04048882f70cf0d411 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_22-15-55_928494151/pose.jsonl @@ -0,0 +1,756 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1630.08787480106, + 892.3166325976274, + 39.78245515282436 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1632.6859510124134, + 890.8166325976274, + 39.78245515282436 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1635.2840272237668, + 889.3166325976274, + 39.78245515282436 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1637.8821034351201, + 887.8166325976274, + 39.78245515282436 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1637.8821034351201, + 887.8166325976274, + 39.78245515282436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1639.3821034351201, + 885.218556386274, + 39.78245515282436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1640.8821034351201, + 882.6204801749207, + 39.78245515282436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1642.3821034351201, + 880.0224039635673, + 39.78245515282436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1643.8821034351201, + 877.4243277522139, + 39.78245515282436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1645.3821034351201, + 874.8262515408605, + 39.78245515282436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1646.8821034351201, + 872.2281753295072, + 39.78245515282436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1648.3821034351201, + 869.6300991181538, + 39.78245515282436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1649.8821034351201, + 867.0320229068004, + 39.78245515282436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1651.3821034351201, + 864.433946695447, + 39.78245515282436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1652.8821034351201, + 861.8358704840937, + 39.78245515282436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1654.3821034351201, + 859.2377942727403, + 39.78245515282436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1655.8821034351201, + 856.6397180613869, + 39.78245515282436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1657.3821034351201, + 854.0416418500336, + 39.78245515282436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1658.8821034351201, + 851.4435656386802, + 39.78245515282436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1660.3821034351201, + 848.8454894273268, + 39.78245515282436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1661.8821034351201, + 846.2474132159734, + 39.78245515282436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1663.3821034351201, + 843.6493370046201, + 39.78245515282436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1664.8821034351201, + 841.0512607932667, + 39.78245515282436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1666.3821034351201, + 838.4531845819133, + 39.78245515282436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1667.8821034351201, + 835.85510837056, + 39.78245515282436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1669.3821034351201, + 833.2570321592066, + 39.78245515282436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1670.8821034351201, + 830.6589559478532, + 39.78245515282436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1672.3821034351201, + 828.0608797364998, + 39.78245515282436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1673.8821034351201, + 825.4628035251465, + 39.78245515282436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1675.3821034351201, + 822.8647273137931, + 39.78245515282436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1676.8821034351201, + 820.2666511024397, + 39.78245515282436 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1676.8821034351201, + 820.2666511024397, + 39.78245515282436 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1679.4801796464735, + 818.7666511024397, + 39.78245515282436 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1682.078255857827, + 817.2666511024397, + 39.78245515282436 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1684.6763320691803, + 815.7666511024397, + 39.78245515282436 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1687.2744082805336, + 814.2666511024397, + 39.78245515282436 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1689.872484491887, + 812.7666511024397, + 39.78245515282436 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1692.4705607032404, + 811.2666511024397, + 39.78245515282436 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1695.0686369145938, + 809.7666511024397, + 39.78245515282436 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1697.6667131259471, + 808.2666511024397, + 39.78245515282436 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1700.2647893373005, + 806.7666511024397, + 39.78245515282436 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1702.8628655486539, + 805.2666511024397, + 39.78245515282436 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1705.4609417600072, + 803.7666511024397, + 39.78245515282436 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1708.0590179713606, + 802.2666511024397, + 39.78245515282436 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1710.657094182714, + 800.7666511024397, + 39.78245515282436 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1713.2551703940674, + 799.2666511024397, + 39.78245515282436 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1715.8532466054207, + 797.7666511024397, + 39.78245515282436 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1718.451322816774, + 796.2666511024397, + 39.78245515282436 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1721.0493990281275, + 794.7666511024397, + 39.78245515282436 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1723.6474752394809, + 793.2666511024397, + 39.78245515282436 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1726.2455514508342, + 791.7666511024397, + 39.78245515282436 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1728.8436276621876, + 790.2666511024397, + 39.78245515282436 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1731.441703873541, + 788.7666511024397, + 39.78245515282436 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1731.441703873541, + 788.7666511024397, + 39.78245515282436 + ], + "type": "go straight", + "value": 3, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1734.441703873541, + 788.7666511024397, + 39.78245515282436 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1737.441703873541, + 788.7666511024397, + 39.78245515282436 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1740.441703873541, + 788.7666511024397, + 39.78245515282436 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1756.0, + 776.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_22-33-56_66493503/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_22-33-56_66493503/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a1c1e716b468f7a0ec80f84fbf05b014b23de90b --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_22-33-56_66493503/pose.jsonl @@ -0,0 +1,119 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1753.9168000693119, + -1684.1400459958415, + 31.41488519828369 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1756.9168000693119, + -1684.1400459958415, + 31.41488519828369 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1759.9168000693119, + -1684.1400459958415, + 31.41488519828369 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1762.9168000693119, + -1684.1400459958415, + 31.41488519828369 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1762.9168000693119, + -1684.1400459958415, + 31.41488519828369 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1765.5148762806652, + -1685.6400459958415, + 31.41488519828369 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1768.1129524920186, + -1687.1400459958415, + 31.41488519828369 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1770.711028703372, + -1688.6400459958415, + 31.41488519828369 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1920.0, + -1752.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_22-41-28_2078175617/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_22-41-28_2078175617/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..19c9e8b757260d6d7af2d2760a875df24121d76e --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_22-41-28_2078175617/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1080.8933585223594, + 667.3351348600119, + 37.758365681867545 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1083.8933585223594, + 667.3351348600119, + 37.758365681867545 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1086.8933585223594, + 667.3351348600119, + 37.758365681867545 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1089.8933585223594, + 667.3351348600119, + 37.758365681867545 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1092.8933585223594, + 667.3351348600119, + 37.758365681867545 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1095.8933585223594, + 667.3351348600119, + 37.758365681867545 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1098.8933585223594, + 667.3351348600119, + 37.758365681867545 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1101.8933585223594, + 667.3351348600119, + 37.758365681867545 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1101.8933585223594, + 667.3351348600119, + 37.758365681867545 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1104.4914347337128, + 665.8351348600119, + 37.758365681867545 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1104.4914347337128, + 665.8351348600119, + 37.758365681867545 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1105.9914347337128, + 663.2370586486586, + 37.758365681867545 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1107.4914347337128, + 660.6389824373052, + 37.758365681867545 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1108.9914347337128, + 658.0409062259519, + 37.758365681867545 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1110.4914347337128, + 655.4428300145985, + 37.758365681867545 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1110.4914347337128, + 655.4428300145985, + 37.758365681867545 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1113.0895109450662, + 653.9428300145985, + 37.758365681867545 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1115.6875871564196, + 652.4428300145985, + 37.758365681867545 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1118.285663367773, + 650.9428300145985, + 37.758365681867545 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1120.8837395791263, + 649.4428300145985, + 37.758365681867545 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1123.4818157904797, + 647.9428300145985, + 37.758365681867545 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1126.079892001833, + 646.4428300145985, + 37.758365681867545 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1128.6779682131864, + 644.9428300145985, + 37.758365681867545 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1131.2760444245398, + 643.4428300145985, + 37.758365681867545 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1133.8741206358932, + 641.9428300145985, + 37.758365681867545 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1136.4721968472466, + 640.4428300145985, + 37.758365681867545 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1139.0702730586, + 638.9428300145985, + 37.758365681867545 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1141.6683492699533, + 637.4428300145985, + 37.758365681867545 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1144.2664254813067, + 635.9428300145985, + 37.758365681867545 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1146.86450169266, + 634.4428300145985, + 37.758365681867545 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1149.4625779040134, + 632.9428300145985, + 37.758365681867545 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1152.0606541153668, + 631.4428300145985, + 37.758365681867545 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1154.6587303267202, + 629.9428300145985, + 37.758365681867545 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1157.2568065380735, + 628.4428300145985, + 37.758365681867545 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1159.854882749427, + 626.9428300145985, + 37.758365681867545 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1162.4529589607803, + 625.4428300145985, + 37.758365681867545 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1165.0510351721337, + 623.9428300145985, + 37.758365681867545 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1167.649111383487, + 622.4428300145985, + 37.758365681867545 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1170.2471875948404, + 620.9428300145985, + 37.758365681867545 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1172.8452638061938, + 619.4428300145985, + 37.758365681867545 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1175.4433400175471, + 617.9428300145985, + 37.758365681867545 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1178.0414162289005, + 616.4428300145985, + 37.758365681867545 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1180.639492440254, + 614.9428300145985, + 37.758365681867545 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1183.2375686516073, + 613.4428300145985, + 37.758365681867545 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1185.8356448629606, + 611.9428300145985, + 37.758365681867545 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1188.433721074314, + 610.4428300145985, + 37.758365681867545 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1191.0317972856674, + 608.9428300145985, + 37.758365681867545 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1193.6298734970208, + 607.4428300145985, + 37.758365681867545 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1196.2279497083741, + 605.9428300145985, + 37.758365681867545 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1198.8260259197275, + 604.4428300145985, + 37.758365681867545 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1201.4241021310809, + 602.9428300145985, + 37.758365681867545 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1204.0221783424342, + 601.4428300145985, + 37.758365681867545 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1206.6202545537876, + 599.9428300145985, + 37.758365681867545 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1232.0, + 584.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_23-22-40_675161631/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_23-22-40_675161631/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5a2e80d27225b640c52ebfc1bb540f7cd63384e8 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_23-22-40_675161631/pose.jsonl @@ -0,0 +1,756 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1799.0259978805545, + 507.91364415468956, + 34.71579721821166 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1796.0259978805545, + 507.91364415468956, + 34.71579721821166 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1793.0259978805545, + 507.91364415468956, + 34.71579721821166 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1790.0259978805545, + 507.91364415468956, + 34.71579721821166 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1787.0259978805545, + 507.91364415468956, + 34.71579721821166 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1784.0259978805545, + 507.91364415468956, + 34.71579721821166 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1781.0259978805545, + 507.91364415468956, + 34.71579721821166 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1778.0259978805545, + 507.91364415468956, + 34.71579721821166 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1775.0259978805545, + 507.91364415468956, + 34.71579721821166 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1772.0259978805545, + 507.91364415468956, + 34.71579721821166 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1769.0259978805545, + 507.91364415468956, + 34.71579721821166 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1766.0259978805545, + 507.91364415468956, + 34.71579721821166 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1763.0259978805545, + 507.91364415468956, + 34.71579721821166 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1760.0259978805545, + 507.91364415468956, + 34.71579721821166 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1757.0259978805545, + 507.91364415468956, + 34.71579721821166 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1754.0259978805545, + 507.91364415468956, + 34.71579721821166 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1751.0259978805545, + 507.91364415468956, + 34.71579721821166 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1748.0259978805545, + 507.91364415468956, + 34.71579721821166 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1745.0259978805545, + 507.91364415468956, + 34.71579721821166 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1742.0259978805545, + 507.91364415468956, + 34.71579721821166 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1739.0259978805545, + 507.91364415468956, + 34.71579721821166 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1739.0259978805545, + 507.91364415468956, + 34.71579721821166 + ], + "type": "turn left", + "value": 30, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1739.0259978805545, + 507.91364415468956, + 34.71579721821166 + ], + "type": "go straight", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1737.5259978805545, + 505.31556794333625, + 34.71579721821166 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1736.0259978805545, + 502.71749173198293, + 34.71579721821166 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1734.5259978805545, + 500.1194155206296, + 34.71579721821166 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1733.0259978805545, + 497.5213393092763, + 34.71579721821166 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1731.5259978805545, + 494.923263097923, + 34.71579721821166 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1730.0259978805545, + 492.32518688656967, + 34.71579721821166 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1728.5259978805545, + 489.72711067521635, + 34.71579721821166 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1728.5259978805545, + 489.72711067521635, + 34.71579721821166 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1728.5259978805545, + 489.72711067521635, + 34.71579721821166 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1725.5259978805545, + 489.72711067521635, + 34.71579721821166 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1722.5259978805545, + 489.72711067521635, + 34.71579721821166 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1719.5259978805545, + 489.72711067521635, + 34.71579721821166 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1716.5259978805545, + 489.72711067521635, + 34.71579721821166 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1716.5259978805545, + 489.72711067521635, + 34.71579721821166 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1713.9279216692012, + 491.22711067521635, + 34.71579721821166 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1711.3298454578478, + 492.72711067521635, + 34.71579721821166 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1708.7317692464944, + 494.22711067521635, + 34.71579721821166 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1706.133693035141, + 495.72711067521635, + 34.71579721821166 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1703.5356168237877, + 497.22711067521635, + 34.71579721821166 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1700.9375406124343, + 498.72711067521635, + 34.71579721821166 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1698.339464401081, + 500.22711067521635, + 34.71579721821166 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1695.7413881897276, + 501.72711067521635, + 34.71579721821166 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1693.1433119783742, + 503.22711067521635, + 34.71579721821166 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1690.5452357670208, + 504.72711067521635, + 34.71579721821166 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1687.9471595556674, + 506.22711067521635, + 34.71579721821166 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1685.349083344314, + 507.72711067521635, + 34.71579721821166 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1682.7510071329607, + 509.22711067521635, + 34.71579721821166 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1680.1529309216073, + 510.72711067521635, + 34.71579721821166 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1677.554854710254, + 512.2271106752163, + 34.71579721821166 + ], + "type": "go straight", + "value": 3, + "yaw": 2.61799387799152 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1674.9567784989006, + 513.7271106752163, + 34.71579721821166 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1672.3587022875472, + 515.2271106752163, + 34.71579721821166 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1669.7606260761938, + 516.7271106752163, + 34.71579721821166 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1667.1625498648405, + 518.2271106752163, + 34.71579721821166 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1664.564473653487, + 519.7271106752163, + 34.71579721821166 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1640.0, + 524.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_23-32-13_842198392/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_23-32-13_842198392/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..135fecc9d049372a7dcebdbbd4c1544a8bcca937 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_23-32-13_842198392/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1453.4268063871207, + 728.6672063799388, + 33.69182987125855 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1453.4268063871207, + 725.6672063799388, + 33.69182987125855 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1453.4268063871207, + 722.6672063799388, + 33.69182987125855 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1453.4268063871207, + 719.6672063799388, + 33.69182987125855 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1453.4268063871207, + 716.6672063799388, + 33.69182987125855 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1453.4268063871207, + 713.6672063799388, + 33.69182987125855 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1453.4268063871207, + 710.6672063799388, + 33.69182987125855 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1453.4268063871207, + 707.6672063799388, + 33.69182987125855 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1453.4268063871207, + 704.6672063799388, + 33.69182987125855 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1453.4268063871207, + 701.6672063799388, + 33.69182987125855 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1453.4268063871207, + 698.6672063799388, + 33.69182987125855 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1453.4268063871207, + 695.6672063799388, + 33.69182987125855 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1453.4268063871207, + 692.6672063799388, + 33.69182987125855 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1453.4268063871207, + 689.6672063799388, + 33.69182987125855 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1453.4268063871207, + 686.6672063799388, + 33.69182987125855 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1453.4268063871207, + 683.6672063799388, + 33.69182987125855 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1453.4268063871207, + 680.6672063799388, + 33.69182987125855 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1453.4268063871207, + 677.6672063799388, + 33.69182987125855 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1453.4268063871207, + 674.6672063799388, + 33.69182987125855 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1453.4268063871207, + 671.6672063799388, + 33.69182987125855 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1453.4268063871207, + 668.6672063799388, + 33.69182987125855 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1453.4268063871207, + 665.6672063799388, + 33.69182987125855 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1453.4268063871207, + 662.6672063799388, + 33.69182987125855 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1453.4268063871207, + 659.6672063799388, + 33.69182987125855 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1453.4268063871207, + 656.6672063799388, + 33.69182987125855 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1453.4268063871207, + 653.6672063799388, + 33.69182987125855 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1453.4268063871207, + 650.6672063799388, + 33.69182987125855 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1453.4268063871207, + 647.6672063799388, + 33.69182987125855 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1453.4268063871207, + 644.6672063799388, + 33.69182987125855 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1453.4268063871207, + 641.6672063799388, + 33.69182987125855 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1453.4268063871207, + 638.6672063799388, + 33.69182987125855 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1453.4268063871207, + 635.6672063799388, + 33.69182987125855 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1453.4268063871207, + 632.6672063799388, + 33.69182987125855 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1453.4268063871207, + 629.6672063799388, + 33.69182987125855 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1453.4268063871207, + 626.6672063799388, + 33.69182987125855 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1453.4268063871207, + 623.6672063799388, + 33.69182987125855 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1453.4268063871207, + 620.6672063799388, + 33.69182987125855 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1453.4268063871207, + 617.6672063799388, + 33.69182987125855 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1453.4268063871207, + 614.6672063799388, + 33.69182987125855 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1453.4268063871207, + 611.6672063799388, + 33.69182987125855 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1453.4268063871207, + 608.6672063799388, + 33.69182987125855 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1453.4268063871207, + 605.6672063799388, + 33.69182987125855 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1453.4268063871207, + 602.6672063799388, + 33.69182987125855 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1453.4268063871207, + 599.6672063799388, + 33.69182987125855 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1453.4268063871207, + 596.6672063799388, + 33.69182987125855 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1453.4268063871207, + 593.6672063799388, + 33.69182987125855 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1453.4268063871207, + 590.6672063799388, + 33.69182987125855 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1453.4268063871207, + 587.6672063799388, + 33.69182987125855 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1453.4268063871207, + 584.6672063799388, + 33.69182987125855 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1453.4268063871207, + 581.6672063799388, + 33.69182987125855 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1453.4268063871207, + 578.6672063799388, + 33.69182987125855 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1453.4268063871207, + 578.6672063799388, + 33.69182987125855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1451.9268063871207, + 576.0691301685854, + 33.69182987125855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1450.4268063871207, + 573.471053957232, + 33.69182987125855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1448.9268063871207, + 570.8729777458786, + 33.69182987125855 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1448.0, + 556.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_23-4-23_336728279/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_23-4-23_336728279/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5b4ca6e9663bd86d4582e994441a269f858ad245 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_23-4-23_336728279/pose.jsonl @@ -0,0 +1,912 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1613.353901607878, + 266.98187553869093, + 35.55862496956588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1613.353901607878, + 263.98187553869093, + 35.55862496956588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1613.353901607878, + 260.98187553869093, + 35.55862496956588 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1613.353901607878, + 260.98187553869093, + 35.55862496956588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1611.853901607878, + 258.3837993273376, + 35.55862496956588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1610.353901607878, + 255.7857231159843, + 35.55862496956588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1608.853901607878, + 253.18764690463098, + 35.55862496956588 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1608.853901607878, + 253.18764690463098, + 35.55862496956588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1608.853901607878, + 250.18764690463098, + 35.55862496956588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1608.853901607878, + 247.18764690463098, + 35.55862496956588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1608.853901607878, + 244.18764690463098, + 35.55862496956588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1608.853901607878, + 241.18764690463098, + 35.55862496956588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1608.853901607878, + 238.18764690463098, + 35.55862496956588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1608.853901607878, + 235.18764690463098, + 35.55862496956588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1608.853901607878, + 232.18764690463098, + 35.55862496956588 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1608.853901607878, + 232.18764690463098, + 35.55862496956588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1607.353901607878, + 229.58957069327766, + 35.55862496956588 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1607.353901607878, + 229.58957069327766, + 35.55862496956588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1607.353901607878, + 226.58957069327766, + 35.55862496956588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1607.353901607878, + 223.58957069327766, + 35.55862496956588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1607.353901607878, + 220.58957069327766, + 35.55862496956588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1607.353901607878, + 217.58957069327766, + 35.55862496956588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1607.353901607878, + 214.58957069327766, + 35.55862496956588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1607.353901607878, + 211.58957069327766, + 35.55862496956588 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1607.353901607878, + 211.58957069327766, + 35.55862496956588 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1607.353901607878, + 211.58957069327766, + 35.55862496956588 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1609.9519778192314, + 210.08957069327766, + 35.55862496956588 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1612.5500540305848, + 208.58957069327766, + 35.55862496956588 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1615.1481302419381, + 207.08957069327766, + 35.55862496956588 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1617.7462064532915, + 205.58957069327766, + 35.55862496956588 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1620.3442826646449, + 204.08957069327766, + 35.55862496956588 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1622.9423588759983, + 202.58957069327766, + 35.55862496956588 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1625.5404350873516, + 201.08957069327766, + 35.55862496956588 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1628.138511298705, + 199.58957069327766, + 35.55862496956588 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1630.7365875100584, + 198.08957069327766, + 35.55862496956588 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1633.3346637214117, + 196.58957069327766, + 35.55862496956588 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1635.9327399327651, + 195.08957069327766, + 35.55862496956588 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1638.5308161441185, + 193.58957069327766, + 35.55862496956588 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1641.1288923554719, + 192.08957069327766, + 35.55862496956588 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1643.7269685668252, + 190.58957069327766, + 35.55862496956588 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1646.3250447781786, + 189.08957069327766, + 35.55862496956588 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1648.923120989532, + 187.58957069327766, + 35.55862496956588 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1651.5211972008854, + 186.08957069327766, + 35.55862496956588 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1654.1192734122387, + 184.58957069327766, + 35.55862496956588 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1656.717349623592, + 183.08957069327766, + 35.55862496956588 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1659.3154258349455, + 181.58957069327766, + 35.55862496956588 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1661.9135020462988, + 180.08957069327766, + 35.55862496956588 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1664.5115782576522, + 178.58957069327766, + 35.55862496956588 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1667.1096544690056, + 177.08957069327766, + 35.55862496956588 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1669.707730680359, + 175.58957069327766, + 35.55862496956588 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -1672.3058068917123, + 174.08957069327766, + 35.55862496956588 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -1674.9038831030657, + 172.58957069327766, + 35.55862496956588 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -1677.501959314419, + 171.08957069327766, + 35.55862496956588 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -1680.1000355257725, + 169.58957069327766, + 35.55862496956588 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -1682.6981117371258, + 168.08957069327766, + 35.55862496956588 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -1685.2961879484792, + 166.58957069327766, + 35.55862496956588 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -1687.8942641598326, + 165.08957069327766, + 35.55862496956588 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -1690.492340371186, + 163.58957069327766, + 35.55862496956588 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -1693.0904165825393, + 162.08957069327766, + 35.55862496956588 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -1695.6884927938927, + 160.58957069327766, + 35.55862496956588 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -1698.286569005246, + 159.08957069327766, + 35.55862496956588 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -1700.8846452165994, + 157.58957069327766, + 35.55862496956588 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -1703.4827214279528, + 156.08957069327766, + 35.55862496956588 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -1706.0807976393062, + 154.58957069327766, + 35.55862496956588 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -1708.6788738506596, + 153.08957069327766, + 35.55862496956588 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -1711.276950062013, + 151.58957069327766, + 35.55862496956588 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -1713.8750262733663, + 150.08957069327766, + 35.55862496956588 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -1716.4731024847197, + 148.58957069327766, + 35.55862496956588 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + -1719.071178696073, + 147.08957069327766, + 35.55862496956588 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1732.0, + 132.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_23-52-14_2085331055/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_23-52-14_2085331055/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9df67aa287fe1302acf8b373f063082a7b7d647c --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_23-52-14_2085331055/pose.jsonl @@ -0,0 +1,574 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1334.9298375057901, + -350.0838571178538, + 31.100480327905075 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1334.9298375057901, + -347.0838571178538, + 31.100480327905075 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1334.9298375057901, + -344.0838571178538, + 31.100480327905075 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1334.9298375057901, + -341.0838571178538, + 31.100480327905075 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1334.9298375057901, + -338.0838571178538, + 31.100480327905075 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1334.9298375057901, + -335.0838571178538, + 31.100480327905075 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1334.9298375057901, + -332.0838571178538, + 31.100480327905075 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1334.9298375057901, + -329.0838571178538, + 31.100480327905075 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1334.9298375057901, + -326.0838571178538, + 31.100480327905075 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1334.9298375057901, + -323.0838571178538, + 31.100480327905075 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1334.9298375057901, + -320.0838571178538, + 31.100480327905075 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1334.9298375057901, + -317.0838571178538, + 31.100480327905075 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1334.9298375057901, + -314.0838571178538, + 31.100480327905075 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1334.9298375057901, + -311.0838571178538, + 31.100480327905075 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1334.9298375057901, + -308.0838571178538, + 31.100480327905075 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1334.9298375057901, + -305.0838571178538, + 31.100480327905075 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1334.9298375057901, + -302.0838571178538, + 31.100480327905075 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1334.9298375057901, + -299.0838571178538, + 31.100480327905075 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1334.9298375057901, + -296.0838571178538, + 31.100480327905075 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1334.9298375057901, + -293.0838571178538, + 31.100480327905075 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1334.9298375057901, + -290.0838571178538, + 31.100480327905075 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1334.9298375057901, + -287.0838571178538, + 31.100480327905075 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1334.9298375057901, + -284.0838571178538, + 31.100480327905075 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1334.9298375057901, + -281.0838571178538, + 31.100480327905075 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1334.9298375057901, + -278.0838571178538, + 31.100480327905075 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1334.9298375057901, + -275.0838571178538, + 31.100480327905075 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1334.9298375057901, + -272.0838571178538, + 31.100480327905075 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1334.9298375057901, + -269.0838571178538, + 31.100480327905075 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1334.9298375057901, + -266.0838571178538, + 31.100480327905075 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1334.9298375057901, + -266.0838571178538, + 31.100480327905075 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1333.4298375057901, + -263.4857809065005, + 31.100480327905075 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1331.9298375057901, + -260.8877046951472, + 31.100480327905075 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1330.4298375057901, + -258.2896284837939, + 31.100480327905075 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1328.9298375057901, + -255.69155227244056, + 31.100480327905075 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1328.9298375057901, + -255.69155227244056, + 31.100480327905075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1326.3317612944368, + -254.19155227244056, + 31.100480327905075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1323.7336850830834, + -252.69155227244056, + 31.100480327905075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1321.13560887173, + -251.19155227244056, + 31.100480327905075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1318.5375326603767, + -249.69155227244056, + 31.100480327905075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1315.9394564490233, + -248.19155227244056, + 31.100480327905075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1313.34138023767, + -246.69155227244056, + 31.100480327905075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1310.7433040263165, + -245.19155227244056, + 31.100480327905075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1308.1452278149632, + -243.69155227244056, + 31.100480327905075 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1296.0, + -204.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_23-9-55_1443155027/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_23-9-55_1443155027/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3fde2a8dcd16e7046902ac2e924106be7130f6fb --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_23-9-55_1443155027/pose.jsonl @@ -0,0 +1,743 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1335.7247574786606, + -1204.5794139066013, + 35.576987500266505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1338.7247574786606, + -1204.5794139066013, + 35.576987500266505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1341.7247574786606, + -1204.5794139066013, + 35.576987500266505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1344.7247574786606, + -1204.5794139066013, + 35.576987500266505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1347.7247574786606, + -1204.5794139066013, + 35.576987500266505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1350.7247574786606, + -1204.5794139066013, + 35.576987500266505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1353.7247574786606, + -1204.5794139066013, + 35.576987500266505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1356.7247574786606, + -1204.5794139066013, + 35.576987500266505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1359.7247574786606, + -1204.5794139066013, + 35.576987500266505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1362.7247574786606, + -1204.5794139066013, + 35.576987500266505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1365.7247574786606, + -1204.5794139066013, + 35.576987500266505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1368.7247574786606, + -1204.5794139066013, + 35.576987500266505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1371.7247574786606, + -1204.5794139066013, + 35.576987500266505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1374.7247574786606, + -1204.5794139066013, + 35.576987500266505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1377.7247574786606, + -1204.5794139066013, + 35.576987500266505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1380.7247574786606, + -1204.5794139066013, + 35.576987500266505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1383.7247574786606, + -1204.5794139066013, + 35.576987500266505 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1383.7247574786606, + -1204.5794139066013, + 35.576987500266505 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1383.7247574786606, + -1204.5794139066013, + 35.576987500266505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1385.2247574786606, + -1201.981337695248, + 35.576987500266505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1386.7247574786606, + -1199.3832614838946, + 35.576987500266505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1388.2247574786606, + -1196.7851852725412, + 35.576987500266505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1389.7247574786606, + -1194.1871090611878, + 35.576987500266505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1391.2247574786606, + -1191.5890328498344, + 35.576987500266505 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1391.2247574786606, + -1191.5890328498344, + 35.576987500266505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1393.822833690014, + -1190.0890328498344, + 35.576987500266505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1396.4209099013674, + -1188.5890328498344, + 35.576987500266505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1399.0189861127208, + -1187.0890328498344, + 35.576987500266505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1401.6170623240741, + -1185.5890328498344, + 35.576987500266505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1404.2151385354275, + -1184.0890328498344, + 35.576987500266505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1406.8132147467809, + -1182.5890328498344, + 35.576987500266505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1409.4112909581343, + -1181.0890328498344, + 35.576987500266505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1412.0093671694876, + -1179.5890328498344, + 35.576987500266505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1414.607443380841, + -1178.0890328498344, + 35.576987500266505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1417.2055195921944, + -1176.5890328498344, + 35.576987500266505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1419.8035958035478, + -1175.0890328498344, + 35.576987500266505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1422.4016720149011, + -1173.5890328498344, + 35.576987500266505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1424.9997482262545, + -1172.0890328498344, + 35.576987500266505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1427.5978244376079, + -1170.5890328498344, + 35.576987500266505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1430.1959006489612, + -1169.0890328498344, + 35.576987500266505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1432.7939768603146, + -1167.5890328498344, + 35.576987500266505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1435.392053071668, + -1166.0890328498344, + 35.576987500266505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1437.9901292830214, + -1164.5890328498344, + 35.576987500266505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1440.5882054943747, + -1163.0890328498344, + 35.576987500266505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1443.186281705728, + -1161.5890328498344, + 35.576987500266505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1445.7843579170815, + -1160.0890328498344, + 35.576987500266505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1448.3824341284349, + -1158.5890328498344, + 35.576987500266505 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1450.9805103397882, + -1157.0890328498344, + 35.576987500266505 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1450.9805103397882, + -1157.0890328498344, + 35.576987500266505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1452.4805103397882, + -1154.490956638481, + 35.576987500266505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1453.9805103397882, + -1151.8928804271277, + 35.576987500266505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1455.4805103397882, + -1149.2948042157743, + 35.576987500266505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1456.9805103397882, + -1146.696728004421, + 35.576987500266505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1458.4805103397882, + -1144.0986517930676, + 35.576987500266505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1459.9805103397882, + -1141.5005755817142, + 35.576987500266505 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1461.4805103397882, + -1138.9024993703608, + 35.576987500266505 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1484.0, + -1128.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_3-53-31_101323875/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_3-53-31_101323875/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7f37a886e8f73adbd2aff92ee0cc89e081625aee --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_3-53-31_101323875/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 145.58608656067267, + -469.9763947529229, + 31.202877881420637 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 148.58608656067267, + -469.9763947529229, + 31.202877881420637 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 151.58608656067267, + -469.9763947529229, + 31.202877881420637 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 154.58608656067267, + -469.9763947529229, + 31.202877881420637 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 157.58608656067267, + -469.9763947529229, + 31.202877881420637 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 160.58608656067267, + -469.9763947529229, + 31.202877881420637 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 163.58608656067267, + -469.9763947529229, + 31.202877881420637 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 166.58608656067267, + -469.9763947529229, + 31.202877881420637 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 169.58608656067267, + -469.9763947529229, + 31.202877881420637 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 172.58608656067267, + -469.9763947529229, + 31.202877881420637 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 175.58608656067267, + -469.9763947529229, + 31.202877881420637 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 178.58608656067267, + -469.9763947529229, + 31.202877881420637 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 181.58608656067267, + -469.9763947529229, + 31.202877881420637 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 184.58608656067267, + -469.9763947529229, + 31.202877881420637 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 187.58608656067267, + -469.9763947529229, + 31.202877881420637 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 190.58608656067267, + -469.9763947529229, + 31.202877881420637 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 193.58608656067267, + -469.9763947529229, + 31.202877881420637 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 196.58608656067267, + -469.9763947529229, + 31.202877881420637 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 199.58608656067267, + -469.9763947529229, + 31.202877881420637 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 202.58608656067267, + -469.9763947529229, + 31.202877881420637 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 205.58608656067267, + -469.9763947529229, + 31.202877881420637 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 208.58608656067267, + -469.9763947529229, + 31.202877881420637 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 211.58608656067267, + -469.9763947529229, + 31.202877881420637 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 214.58608656067267, + -469.9763947529229, + 31.202877881420637 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 217.58608656067267, + -469.9763947529229, + 31.202877881420637 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 220.58608656067267, + -469.9763947529229, + 31.202877881420637 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 223.58608656067267, + -469.9763947529229, + 31.202877881420637 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 226.58608656067267, + -469.9763947529229, + 31.202877881420637 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 229.58608656067267, + -469.9763947529229, + 31.202877881420637 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 232.58608656067267, + -469.9763947529229, + 31.202877881420637 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 235.58608656067267, + -469.9763947529229, + 31.202877881420637 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 238.58608656067267, + -469.9763947529229, + 31.202877881420637 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 241.58608656067267, + -469.9763947529229, + 31.202877881420637 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 244.58608656067267, + -469.9763947529229, + 31.202877881420637 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 247.58608656067267, + -469.9763947529229, + 31.202877881420637 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 250.58608656067267, + -469.9763947529229, + 31.202877881420637 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 253.58608656067267, + -469.9763947529229, + 31.202877881420637 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 256.5860865606727, + -469.9763947529229, + 31.202877881420637 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 259.5860865606727, + -469.9763947529229, + 31.202877881420637 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 262.5860865606727, + -469.9763947529229, + 31.202877881420637 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 265.5860865606727, + -469.9763947529229, + 31.202877881420637 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 268.5860865606727, + -469.9763947529229, + 31.202877881420637 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 271.5860865606727, + -469.9763947529229, + 31.202877881420637 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 274.5860865606727, + -469.9763947529229, + 31.202877881420637 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 277.5860865606727, + -469.9763947529229, + 31.202877881420637 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 280.5860865606727, + -469.9763947529229, + 31.202877881420637 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 283.5860865606727, + -469.9763947529229, + 31.202877881420637 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 286.5860865606727, + -469.9763947529229, + 31.202877881420637 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 289.5860865606727, + -469.9763947529229, + 31.202877881420637 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 292.5860865606727, + -469.9763947529229, + 31.202877881420637 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 295.5860865606727, + -469.9763947529229, + 31.202877881420637 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 298.5860865606727, + -469.9763947529229, + 31.202877881420637 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 316.0, + -468.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_4-14-11_1669475776/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_4-14-11_1669475776/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..253000116f8bca7ec67c62fcb43d3fad1ba42509 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_4-14-11_1669475776/pose.jsonl @@ -0,0 +1,288 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1665.8459716105406, + 1072.568431712332, + 34.97461380483037 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1668.8459716105406, + 1072.568431712332, + 34.97461380483037 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1671.8459716105406, + 1072.568431712332, + 34.97461380483037 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1674.8459716105406, + 1072.568431712332, + 34.97461380483037 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1677.8459716105406, + 1072.568431712332, + 34.97461380483037 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1680.8459716105406, + 1072.568431712332, + 34.97461380483037 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1683.8459716105406, + 1072.568431712332, + 34.97461380483037 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1686.8459716105406, + 1072.568431712332, + 34.97461380483037 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1689.8459716105406, + 1072.568431712332, + 34.97461380483037 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1692.8459716105406, + 1072.568431712332, + 34.97461380483037 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1695.8459716105406, + 1072.568431712332, + 34.97461380483037 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1698.8459716105406, + 1072.568431712332, + 34.97461380483037 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1701.8459716105406, + 1072.568431712332, + 34.97461380483037 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1701.8459716105406, + 1072.568431712332, + 34.97461380483037 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1701.8459716105406, + 1072.568431712332, + 34.97461380483037 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1703.3459716105406, + 1069.9703555009787, + 34.97461380483037 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1704.8459716105406, + 1067.3722792896253, + 34.97461380483037 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1704.8459716105406, + 1067.3722792896253, + 34.97461380483037 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1707.444047821894, + 1065.8722792896253, + 34.97461380483037 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1710.0421240332473, + 1064.3722792896253, + 34.97461380483037 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1712.6402002446007, + 1062.8722792896253, + 34.97461380483037 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1840.0, + 1028.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_4-34-46_164826621/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_4-34-46_164826621/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..45ad2c65c5054f7a12b70fbe1ab97df0769089d9 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_4-34-46_164826621/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1017.5656488294908, + -1314.2257880250522, + 38.581829977038666 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1014.9675726181374, + -1315.7257880250522, + 38.581829977038666 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1012.369496406784, + -1317.2257880250522, + 38.581829977038666 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1009.7714201954307, + -1318.7257880250522, + 38.581829977038666 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1007.1733439840773, + -1320.2257880250522, + 38.581829977038666 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1004.5752677727239, + -1321.7257880250522, + 38.581829977038666 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1001.9771915613705, + -1323.2257880250522, + 38.581829977038666 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 999.3791153500172, + -1324.7257880250522, + 38.581829977038666 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 996.7810391386638, + -1326.2257880250522, + 38.581829977038666 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 994.1829629273104, + -1327.7257880250522, + 38.581829977038666 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 991.584886715957, + -1329.2257880250522, + 38.581829977038666 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 988.9868105046037, + -1330.7257880250522, + 38.581829977038666 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 986.3887342932503, + -1332.2257880250522, + 38.581829977038666 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 983.7906580818969, + -1333.7257880250522, + 38.581829977038666 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 981.1925818705436, + -1335.2257880250522, + 38.581829977038666 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 978.5945056591902, + -1336.7257880250522, + 38.581829977038666 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 975.9964294478368, + -1338.2257880250522, + 38.581829977038666 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 973.3983532364834, + -1339.7257880250522, + 38.581829977038666 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 970.8002770251301, + -1341.2257880250522, + 38.581829977038666 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 968.2022008137767, + -1342.7257880250522, + 38.581829977038666 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 965.6041246024233, + -1344.2257880250522, + 38.581829977038666 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 963.00604839107, + -1345.7257880250522, + 38.581829977038666 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 960.4079721797166, + -1347.2257880250522, + 38.581829977038666 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 957.8098959683632, + -1348.7257880250522, + 38.581829977038666 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 955.2118197570098, + -1350.2257880250522, + 38.581829977038666 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 952.6137435456565, + -1351.7257880250522, + 38.581829977038666 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 950.0156673343031, + -1353.2257880250522, + 38.581829977038666 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 947.4175911229497, + -1354.7257880250522, + 38.581829977038666 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 944.8195149115963, + -1356.2257880250522, + 38.581829977038666 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 942.221438700243, + -1357.7257880250522, + 38.581829977038666 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 939.6233624888896, + -1359.2257880250522, + 38.581829977038666 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 937.0252862775362, + -1360.7257880250522, + 38.581829977038666 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 934.4272100661829, + -1362.2257880250522, + 38.581829977038666 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 931.8291338548295, + -1363.7257880250522, + 38.581829977038666 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 929.2310576434761, + -1365.2257880250522, + 38.581829977038666 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 926.6329814321227, + -1366.7257880250522, + 38.581829977038666 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 924.0349052207694, + -1368.2257880250522, + 38.581829977038666 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 921.436829009416, + -1369.7257880250522, + 38.581829977038666 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 918.8387527980626, + -1371.2257880250522, + 38.581829977038666 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 916.2406765867092, + -1372.7257880250522, + 38.581829977038666 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 913.6426003753559, + -1374.2257880250522, + 38.581829977038666 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 911.0445241640025, + -1375.7257880250522, + 38.581829977038666 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 908.4464479526491, + -1377.2257880250522, + 38.581829977038666 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 905.8483717412958, + -1378.7257880250522, + 38.581829977038666 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 903.2502955299424, + -1380.2257880250522, + 38.581829977038666 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 900.652219318589, + -1381.7257880250522, + 38.581829977038666 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 898.0541431072356, + -1383.2257880250522, + 38.581829977038666 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 895.4560668958823, + -1384.7257880250522, + 38.581829977038666 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 895.4560668958823, + -1384.7257880250522, + 38.581829977038666 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 892.4560668958823, + -1384.7257880250522, + 38.581829977038666 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 889.4560668958823, + -1384.7257880250522, + 38.581829977038666 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 886.4560668958823, + -1384.7257880250522, + 38.581829977038666 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 883.4560668958823, + -1384.7257880250522, + 38.581829977038666 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 880.4560668958823, + -1384.7257880250522, + 38.581829977038666 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 877.4560668958823, + -1384.7257880250522, + 38.581829977038666 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 860.0, + -1396.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_4-38-56_1390543437/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_4-38-56_1390543437/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f64a9af173df07796bb699b16279e4cfea887137 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_4-38-56_1390543437/pose.jsonl @@ -0,0 +1,171 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1766.261825921629, + -593.9454554151469, + 35.3907419633114 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1768.8599021329824, + -592.4454554151469, + 35.3907419633114 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1771.4579783443357, + -590.9454554151469, + 35.3907419633114 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1774.0560545556891, + -589.4454554151469, + 35.3907419633114 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1776.6541307670425, + -587.9454554151469, + 35.3907419633114 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1779.2522069783959, + -586.4454554151469, + 35.3907419633114 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1779.2522069783959, + -586.4454554151469, + 35.3907419633114 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1780.7522069783959, + -583.8473792037935, + 35.3907419633114 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1782.2522069783959, + -581.2493029924401, + 35.3907419633114 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1783.7522069783959, + -578.6512267810867, + 35.3907419633114 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1785.2522069783959, + -576.0531505697334, + 35.3907419633114 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1786.7522069783959, + -573.45507435838, + 35.3907419633114 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1884.0, + -480.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_5-32-1_1466942491/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_5-32-1_1466942491/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..086c5043eebfbb6022e5ddcd48ccf8b2cbd69cca --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_5-32-1_1466942491/pose.jsonl @@ -0,0 +1,457 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 203.757022910907, + 361.7111262770949, + 30.11577427902996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 202.257022910907, + 359.11305006574156, + 30.11577427902996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 200.757022910907, + 356.51497385438824, + 30.11577427902996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 199.257022910907, + 353.91689764303493, + 30.11577427902996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 197.757022910907, + 351.3188214316816, + 30.11577427902996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 196.257022910907, + 348.7207452203283, + 30.11577427902996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 194.757022910907, + 346.122669008975, + 30.11577427902996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 193.257022910907, + 343.52459279762166, + 30.11577427902996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 191.757022910907, + 340.92651658626835, + 30.11577427902996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 190.257022910907, + 338.32844037491503, + 30.11577427902996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 188.757022910907, + 335.7303641635617, + 30.11577427902996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 187.257022910907, + 333.1322879522084, + 30.11577427902996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 185.757022910907, + 330.5342117408551, + 30.11577427902996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 184.257022910907, + 327.93613552950177, + 30.11577427902996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 182.757022910907, + 325.33805931814845, + 30.11577427902996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 181.257022910907, + 322.73998310679514, + 30.11577427902996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 179.757022910907, + 320.1419068954418, + 30.11577427902996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 178.257022910907, + 317.5438306840885, + 30.11577427902996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 176.757022910907, + 314.9457544727352, + 30.11577427902996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 175.257022910907, + 312.3476782613819, + 30.11577427902996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 173.757022910907, + 309.74960205002856, + 30.11577427902996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 172.257022910907, + 307.15152583867524, + 30.11577427902996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 170.757022910907, + 304.5534496273219, + 30.11577427902996 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 170.757022910907, + 304.5534496273219, + 30.11577427902996 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 170.757022910907, + 301.5534496273219, + 30.11577427902996 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 170.757022910907, + 298.5534496273219, + 30.11577427902996 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 170.757022910907, + 295.5534496273219, + 30.11577427902996 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 170.757022910907, + 292.5534496273219, + 30.11577427902996 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 170.757022910907, + 289.5534496273219, + 30.11577427902996 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 170.757022910907, + 286.5534496273219, + 30.11577427902996 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 170.757022910907, + 283.5534496273219, + 30.11577427902996 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 170.757022910907, + 280.5534496273219, + 30.11577427902996 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 170.757022910907, + 277.5534496273219, + 30.11577427902996 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 170.757022910907, + 274.5534496273219, + 30.11577427902996 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 148.0, + 208.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_5-58-8_1934660183/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_5-58-8_1934660183/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a1311712459421d3eab41a5e590b6ec6152aa1bb --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_5-58-8_1934660183/pose.jsonl @@ -0,0 +1,860 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1765.411478821737, + 1423.928295665331, + 39.72874037667104 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1763.911478821737, + 1426.5263718766844, + 39.72874037667104 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1762.411478821737, + 1429.1244480880378, + 39.72874037667104 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1760.911478821737, + 1431.7225242993911, + 39.72874037667104 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1759.411478821737, + 1434.3206005107445, + 39.72874037667104 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1759.411478821737, + 1434.3206005107445, + 39.72874037667104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1756.8134026103837, + 1435.8206005107445, + 39.72874037667104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1754.2153263990303, + 1437.3206005107445, + 39.72874037667104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1751.617250187677, + 1438.8206005107445, + 39.72874037667104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1749.0191739763236, + 1440.3206005107445, + 39.72874037667104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1746.4210977649702, + 1441.8206005107445, + 39.72874037667104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1743.8230215536169, + 1443.3206005107445, + 39.72874037667104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1741.2249453422635, + 1444.8206005107445, + 39.72874037667104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1738.62686913091, + 1446.3206005107445, + 39.72874037667104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1736.0287929195567, + 1447.8206005107445, + 39.72874037667104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1733.4307167082034, + 1449.3206005107445, + 39.72874037667104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1730.83264049685, + 1450.8206005107445, + 39.72874037667104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1728.2345642854966, + 1452.3206005107445, + 39.72874037667104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1725.6364880741432, + 1453.8206005107445, + 39.72874037667104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1723.0384118627899, + 1455.3206005107445, + 39.72874037667104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1720.4403356514365, + 1456.8206005107445, + 39.72874037667104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1717.8422594400831, + 1458.3206005107445, + 39.72874037667104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1715.2441832287298, + 1459.8206005107445, + 39.72874037667104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1712.6461070173764, + 1461.3206005107445, + 39.72874037667104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1710.048030806023, + 1462.8206005107445, + 39.72874037667104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1707.4499545946696, + 1464.3206005107445, + 39.72874037667104 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1707.4499545946696, + 1464.3206005107445, + 39.72874037667104 + ], + "type": "turn left", + "value": 30, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1707.4499545946696, + 1464.3206005107445, + 39.72874037667104 + ], + "type": "go straight", + "value": 3, + "yaw": 1.570796326794887 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1707.4499545946696, + 1467.3206005107445, + 39.72874037667104 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1707.4499545946696, + 1470.3206005107445, + 39.72874037667104 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1707.4499545946696, + 1473.3206005107445, + 39.72874037667104 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1707.4499545946696, + 1476.3206005107445, + 39.72874037667104 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1707.4499545946696, + 1479.3206005107445, + 39.72874037667104 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1707.4499545946696, + 1482.3206005107445, + 39.72874037667104 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1707.4499545946696, + 1482.3206005107445, + 39.72874037667104 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1708.9499545946696, + 1484.9186767220979, + 39.72874037667104 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1710.4499545946696, + 1487.5167529334512, + 39.72874037667104 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1711.9499545946696, + 1490.1148291448046, + 39.72874037667104 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1713.4499545946696, + 1492.712905356158, + 39.72874037667104 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1713.4499545946696, + 1492.712905356158, + 39.72874037667104 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1713.4499545946696, + 1495.712905356158, + 39.72874037667104 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1713.4499545946696, + 1498.712905356158, + 39.72874037667104 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1713.4499545946696, + 1501.712905356158, + 39.72874037667104 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1713.4499545946696, + 1504.712905356158, + 39.72874037667104 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1713.4499545946696, + 1507.712905356158, + 39.72874037667104 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1713.4499545946696, + 1510.712905356158, + 39.72874037667104 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1713.4499545946696, + 1513.712905356158, + 39.72874037667104 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1713.4499545946696, + 1516.712905356158, + 39.72874037667104 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1713.4499545946696, + 1519.712905356158, + 39.72874037667104 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1713.4499545946696, + 1522.712905356158, + 39.72874037667104 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -1713.4499545946696, + 1525.712905356158, + 39.72874037667104 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -1713.4499545946696, + 1528.712905356158, + 39.72874037667104 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -1713.4499545946696, + 1531.712905356158, + 39.72874037667104 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -1713.4499545946696, + 1534.712905356158, + 39.72874037667104 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -1713.4499545946696, + 1537.712905356158, + 39.72874037667104 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -1713.4499545946696, + 1540.712905356158, + 39.72874037667104 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -1713.4499545946696, + 1543.712905356158, + 39.72874037667104 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -1713.4499545946696, + 1543.712905356158, + 39.72874037667104 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -1713.4499545946696, + 1543.712905356158, + 39.72874037667104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -1710.8518783833163, + 1545.212905356158, + 39.72874037667104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -1708.253802171963, + 1546.712905356158, + 39.72874037667104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -1705.6557259606095, + 1548.212905356158, + 39.72874037667104 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -1705.6557259606095, + 1548.212905356158, + 39.72874037667104 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -1704.1557259606095, + 1550.8109815675114, + 39.72874037667104 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -1702.6557259606095, + 1553.4090577788647, + 39.72874037667104 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1688.0, + 1584.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_5-9-53_1528806445/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_5-9-53_1528806445/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ace71052771fd906f0129b031fcd07394c909139 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_5-9-53_1528806445/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1011.1530590074983, + -568.7599408444918, + 31.59426759696869 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1013.7511352188517, + -570.2599408444918, + 31.59426759696869 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1016.3492114302051, + -571.7599408444918, + 31.59426759696869 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1018.9472876415584, + -573.2599408444918, + 31.59426759696869 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1021.5453638529118, + -574.7599408444918, + 31.59426759696869 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1024.1434400642652, + -576.2599408444918, + 31.59426759696869 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1026.7415162756186, + -577.7599408444918, + 31.59426759696869 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1029.339592486972, + -579.2599408444918, + 31.59426759696869 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1031.9376686983253, + -580.7599408444918, + 31.59426759696869 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1034.5357449096787, + -582.2599408444918, + 31.59426759696869 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1037.133821121032, + -583.7599408444918, + 31.59426759696869 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1039.7318973323854, + -585.2599408444918, + 31.59426759696869 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1042.3299735437388, + -586.7599408444918, + 31.59426759696869 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1044.9280497550922, + -588.2599408444918, + 31.59426759696869 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1047.5261259664455, + -589.7599408444918, + 31.59426759696869 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1050.124202177799, + -591.2599408444918, + 31.59426759696869 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1052.7222783891523, + -592.7599408444918, + 31.59426759696869 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1055.3203546005057, + -594.2599408444918, + 31.59426759696869 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1057.918430811859, + -595.7599408444918, + 31.59426759696869 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1060.5165070232124, + -597.2599408444918, + 31.59426759696869 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1063.1145832345658, + -598.7599408444918, + 31.59426759696869 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1065.7126594459191, + -600.2599408444918, + 31.59426759696869 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1068.3107356572725, + -601.7599408444918, + 31.59426759696869 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1070.908811868626, + -603.2599408444918, + 31.59426759696869 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1073.5068880799793, + -604.7599408444918, + 31.59426759696869 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1076.1049642913326, + -606.2599408444918, + 31.59426759696869 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1078.703040502686, + -607.7599408444918, + 31.59426759696869 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1081.3011167140394, + -609.2599408444918, + 31.59426759696869 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1083.8991929253928, + -610.7599408444918, + 31.59426759696869 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1086.4972691367461, + -612.2599408444918, + 31.59426759696869 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1089.0953453480995, + -613.7599408444918, + 31.59426759696869 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1091.6934215594529, + -615.2599408444918, + 31.59426759696869 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1094.2914977708062, + -616.7599408444918, + 31.59426759696869 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1096.8895739821596, + -618.2599408444918, + 31.59426759696869 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1099.487650193513, + -619.7599408444918, + 31.59426759696869 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1102.0857264048664, + -621.2599408444918, + 31.59426759696869 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1104.6838026162197, + -622.7599408444918, + 31.59426759696869 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1104.6838026162197, + -622.7599408444918, + 31.59426759696869 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1107.6838026162197, + -622.7599408444918, + 31.59426759696869 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1110.6838026162197, + -622.7599408444918, + 31.59426759696869 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1113.6838026162197, + -622.7599408444918, + 31.59426759696869 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1116.6838026162197, + -622.7599408444918, + 31.59426759696869 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1119.6838026162197, + -622.7599408444918, + 31.59426759696869 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1122.6838026162197, + -622.7599408444918, + 31.59426759696869 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1125.6838026162197, + -622.7599408444918, + 31.59426759696869 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1128.6838026162197, + -622.7599408444918, + 31.59426759696869 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1131.6838026162197, + -622.7599408444918, + 31.59426759696869 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1134.6838026162197, + -622.7599408444918, + 31.59426759696869 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1156.0, + -632.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_6-12-40_929588156/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_6-12-40_929588156/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5f22029690e8d045f43ceb6ede44ba18f3dcf58c --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_6-12-40_929588156/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1123.710332836513, + -932.0081907811751, + 36.900944620069964 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1126.3084090478665, + -933.5081907811751, + 36.900944620069964 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1128.9064852592198, + -935.0081907811751, + 36.900944620069964 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1131.5045614705732, + -936.5081907811751, + 36.900944620069964 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1134.1026376819266, + -938.0081907811751, + 36.900944620069964 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1136.70071389328, + -939.5081907811751, + 36.900944620069964 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1136.70071389328, + -939.5081907811751, + 36.900944620069964 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1139.70071389328, + -939.5081907811751, + 36.900944620069964 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1142.70071389328, + -939.5081907811751, + 36.900944620069964 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1145.70071389328, + -939.5081907811751, + 36.900944620069964 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1148.70071389328, + -939.5081907811751, + 36.900944620069964 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1151.70071389328, + -939.5081907811751, + 36.900944620069964 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1154.70071389328, + -939.5081907811751, + 36.900944620069964 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1157.70071389328, + -939.5081907811751, + 36.900944620069964 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1160.70071389328, + -939.5081907811751, + 36.900944620069964 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1163.70071389328, + -939.5081907811751, + 36.900944620069964 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1166.70071389328, + -939.5081907811751, + 36.900944620069964 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1169.70071389328, + -939.5081907811751, + 36.900944620069964 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1172.70071389328, + -939.5081907811751, + 36.900944620069964 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1175.70071389328, + -939.5081907811751, + 36.900944620069964 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1178.70071389328, + -939.5081907811751, + 36.900944620069964 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1181.70071389328, + -939.5081907811751, + 36.900944620069964 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1184.70071389328, + -939.5081907811751, + 36.900944620069964 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1187.70071389328, + -939.5081907811751, + 36.900944620069964 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1187.70071389328, + -939.5081907811751, + 36.900944620069964 + ], + "type": "turn left", + "value": 30, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1187.70071389328, + -939.5081907811751, + 36.900944620069964 + ], + "type": "go straight", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1189.20071389328, + -942.1062669925284, + 36.900944620069964 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1190.70071389328, + -944.7043432038818, + 36.900944620069964 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1192.20071389328, + -947.3024194152351, + 36.900944620069964 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1193.70071389328, + -949.9004956265885, + 36.900944620069964 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1195.20071389328, + -952.4985718379419, + 36.900944620069964 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1196.70071389328, + -955.0966480492953, + 36.900944620069964 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1198.20071389328, + -957.6947242606486, + 36.900944620069964 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1199.70071389328, + -960.292800472002, + 36.900944620069964 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1201.20071389328, + -962.8908766833554, + 36.900944620069964 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1202.70071389328, + -965.4889528947087, + 36.900944620069964 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1204.20071389328, + -968.0870291060621, + 36.900944620069964 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1205.70071389328, + -970.6851053174155, + 36.900944620069964 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1207.20071389328, + -973.2831815287689, + 36.900944620069964 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1208.70071389328, + -975.8812577401222, + 36.900944620069964 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1210.20071389328, + -978.4793339514756, + 36.900944620069964 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1210.20071389328, + -978.4793339514756, + 36.900944620069964 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1212.7987901046333, + -979.9793339514756, + 36.900944620069964 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1215.3968663159867, + -981.4793339514756, + 36.900944620069964 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1217.99494252734, + -982.9793339514756, + 36.900944620069964 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1220.5930187386934, + -984.4793339514756, + 36.900944620069964 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1223.1910949500468, + -985.9793339514756, + 36.900944620069964 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1225.7891711614002, + -987.4793339514756, + 36.900944620069964 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1228.3872473727536, + -988.9793339514756, + 36.900944620069964 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1260.0, + -1008.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_6-17-9_399493245/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_6-17-9_399493245/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b9944978c4b1428515ccaa3a239b9ed7ca7e7204 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_6-17-9_399493245/pose.jsonl @@ -0,0 +1,366 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1150.2690974381185, + 1727.5357627769106, + 32.82723801128009 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1150.2690974381185, + 1730.5357627769106, + 32.82723801128009 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1150.2690974381185, + 1733.5357627769106, + 32.82723801128009 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1150.2690974381185, + 1736.5357627769106, + 32.82723801128009 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1150.2690974381185, + 1739.5357627769106, + 32.82723801128009 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1150.2690974381185, + 1742.5357627769106, + 32.82723801128009 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1150.2690974381185, + 1745.5357627769106, + 32.82723801128009 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1150.2690974381185, + 1748.5357627769106, + 32.82723801128009 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1150.2690974381185, + 1751.5357627769106, + 32.82723801128009 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1150.2690974381185, + 1754.5357627769106, + 32.82723801128009 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1150.2690974381185, + 1757.5357627769106, + 32.82723801128009 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1150.2690974381185, + 1760.5357627769106, + 32.82723801128009 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1150.2690974381185, + 1763.5357627769106, + 32.82723801128009 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1150.2690974381185, + 1766.5357627769106, + 32.82723801128009 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1150.2690974381185, + 1766.5357627769106, + 32.82723801128009 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1151.7690974381185, + 1769.133838988264, + 32.82723801128009 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1153.2690974381185, + 1771.7319151996173, + 32.82723801128009 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1154.7690974381185, + 1774.3299914109707, + 32.82723801128009 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1156.2690974381185, + 1776.928067622324, + 32.82723801128009 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1157.7690974381185, + 1779.5261438336775, + 32.82723801128009 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1159.2690974381185, + 1782.1242200450308, + 32.82723801128009 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1160.7690974381185, + 1784.7222962563842, + 32.82723801128009 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1162.2690974381185, + 1787.3203724677376, + 32.82723801128009 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1163.7690974381185, + 1789.918448679091, + 32.82723801128009 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1165.2690974381185, + 1792.5165248904443, + 32.82723801128009 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1166.7690974381185, + 1795.1146011017977, + 32.82723801128009 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1168.2690974381185, + 1797.712677313151, + 32.82723801128009 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1188.0, + 1876.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_6-30-50_990526343/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_6-30-50_990526343/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2117f922cedb420516ede3d989c70a406ed77c32 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_6-30-50_990526343/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1468.1384519760134, + -442.36206164190617, + 33.03523308812282 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1468.1384519760134, + -445.36206164190617, + 33.03523308812282 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1468.1384519760134, + -448.36206164190617, + 33.03523308812282 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1468.1384519760134, + -451.36206164190617, + 33.03523308812282 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1468.1384519760134, + -454.36206164190617, + 33.03523308812282 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1468.1384519760134, + -457.36206164190617, + 33.03523308812282 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1468.1384519760134, + -460.36206164190617, + 33.03523308812282 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1468.1384519760134, + -463.36206164190617, + 33.03523308812282 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1468.1384519760134, + -466.36206164190617, + 33.03523308812282 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1468.1384519760134, + -466.36206164190617, + 33.03523308812282 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1466.6384519760134, + -468.9601378532595, + 33.03523308812282 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1465.1384519760134, + -471.5582140646128, + 33.03523308812282 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1465.1384519760134, + -471.5582140646128, + 33.03523308812282 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1465.1384519760134, + -474.5582140646128, + 33.03523308812282 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1465.1384519760134, + -477.5582140646128, + 33.03523308812282 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1465.1384519760134, + -480.5582140646128, + 33.03523308812282 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1465.1384519760134, + -483.5582140646128, + 33.03523308812282 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1465.1384519760134, + -486.5582140646128, + 33.03523308812282 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1465.1384519760134, + -489.5582140646128, + 33.03523308812282 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1465.1384519760134, + -492.5582140646128, + 33.03523308812282 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1465.1384519760134, + -495.5582140646128, + 33.03523308812282 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1465.1384519760134, + -498.5582140646128, + 33.03523308812282 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1465.1384519760134, + -501.5582140646128, + 33.03523308812282 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1465.1384519760134, + -501.5582140646128, + 33.03523308812282 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1466.6384519760134, + -504.1562902759661, + 33.03523308812282 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1468.1384519760134, + -506.75436648731943, + 33.03523308812282 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1469.6384519760134, + -509.35244269867275, + 33.03523308812282 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1471.1384519760134, + -511.95051891002606, + 33.03523308812282 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1472.6384519760134, + -514.5485951213793, + 33.03523308812282 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1474.1384519760134, + -517.1466713327327, + 33.03523308812282 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1475.6384519760134, + -519.7447475440861, + 33.03523308812282 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1477.1384519760134, + -522.3428237554394, + 33.03523308812282 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1478.6384519760134, + -524.9408999667928, + 33.03523308812282 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1480.1384519760134, + -527.5389761781462, + 33.03523308812282 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1481.6384519760134, + -530.1370523894996, + 33.03523308812282 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1483.1384519760134, + -532.7351286008529, + 33.03523308812282 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1484.6384519760134, + -535.3332048122063, + 33.03523308812282 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1486.1384519760134, + -537.9312810235597, + 33.03523308812282 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1487.6384519760134, + -540.529357234913, + 33.03523308812282 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1489.1384519760134, + -543.1274334462664, + 33.03523308812282 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1490.6384519760134, + -545.7255096576198, + 33.03523308812282 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1492.1384519760134, + -548.3235858689732, + 33.03523308812282 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1493.6384519760134, + -550.9216620803265, + 33.03523308812282 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1495.1384519760134, + -553.5197382916799, + 33.03523308812282 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1495.1384519760134, + -553.5197382916799, + 33.03523308812282 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1497.7365281873667, + -555.0197382916799, + 33.03523308812282 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1500.33460439872, + -556.5197382916799, + 33.03523308812282 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1502.9326806100735, + -558.0197382916799, + 33.03523308812282 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1505.5307568214268, + -559.5197382916799, + 33.03523308812282 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1516.0, + -588.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_6-34-5_373953666/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_6-34-5_373953666/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..51892ebd1fbe2ca97553f9a64dd4879d1b2460b3 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_6-34-5_373953666/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -811.7267153126724, + -964.7330578265335, + 38.686764434035 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -814.3247915240256, + -966.2330578265335, + 38.686764434035 + ], + "type": "turn left", + "value": 30, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -814.3247915240256, + -966.2330578265335, + 38.686764434035 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931864 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -815.8247915240256, + -968.8311340378868, + 38.686764434035 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -817.3247915240256, + -971.4292102492402, + 38.686764434035 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -817.3247915240256, + -971.4292102492402, + 38.686764434035 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -819.922867735379, + -972.9292102492402, + 38.686764434035 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -822.5209439467324, + -974.4292102492402, + 38.686764434035 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -825.1190201580857, + -975.9292102492402, + 38.686764434035 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -827.7170963694391, + -977.4292102492402, + 38.686764434035 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -830.3151725807925, + -978.9292102492402, + 38.686764434035 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -832.9132487921459, + -980.4292102492402, + 38.686764434035 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -835.5113250034992, + -981.9292102492402, + 38.686764434035 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -838.1094012148526, + -983.4292102492402, + 38.686764434035 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -840.707477426206, + -984.9292102492402, + 38.686764434035 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -843.3055536375593, + -986.4292102492402, + 38.686764434035 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -845.9036298489127, + -987.9292102492402, + 38.686764434035 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -848.5017060602661, + -989.4292102492402, + 38.686764434035 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -848.5017060602661, + -989.4292102492402, + 38.686764434035 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -851.5017060602661, + -989.4292102492402, + 38.686764434035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -854.5017060602661, + -989.4292102492402, + 38.686764434035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -857.5017060602661, + -989.4292102492402, + 38.686764434035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -860.5017060602661, + -989.4292102492402, + 38.686764434035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -863.5017060602661, + -989.4292102492402, + 38.686764434035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -866.5017060602661, + -989.4292102492402, + 38.686764434035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -869.5017060602661, + -989.4292102492402, + 38.686764434035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -872.5017060602661, + -989.4292102492402, + 38.686764434035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -875.5017060602661, + -989.4292102492402, + 38.686764434035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -878.5017060602661, + -989.4292102492402, + 38.686764434035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -881.5017060602661, + -989.4292102492402, + 38.686764434035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -884.5017060602661, + -989.4292102492402, + 38.686764434035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -887.5017060602661, + -989.4292102492402, + 38.686764434035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -890.5017060602661, + -989.4292102492402, + 38.686764434035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -893.5017060602661, + -989.4292102492402, + 38.686764434035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -896.5017060602661, + -989.4292102492402, + 38.686764434035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -899.5017060602661, + -989.4292102492402, + 38.686764434035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -902.5017060602661, + -989.4292102492402, + 38.686764434035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -905.5017060602661, + -989.4292102492402, + 38.686764434035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -908.5017060602661, + -989.4292102492402, + 38.686764434035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -911.5017060602661, + -989.4292102492402, + 38.686764434035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -914.5017060602661, + -989.4292102492402, + 38.686764434035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -917.5017060602661, + -989.4292102492402, + 38.686764434035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -920.5017060602661, + -989.4292102492402, + 38.686764434035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -923.5017060602661, + -989.4292102492402, + 38.686764434035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -926.5017060602661, + -989.4292102492402, + 38.686764434035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -929.5017060602661, + -989.4292102492402, + 38.686764434035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -932.5017060602661, + -989.4292102492402, + 38.686764434035 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -932.5017060602661, + -989.4292102492402, + 38.686764434035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -935.0997822716195, + -990.9292102492402, + 38.686764434035 + ], + "type": "stop", + "value": 0, + "yaw": 3.665191429188092 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -976.0, + -1000.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_6-46-53_1692713933/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_6-46-53_1692713933/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c50332395a69c3da1cf7fee2c571aa62c54be315 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_6-46-53_1692713933/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1229.173127227125, + -866.8460181172302, + 31.651401750590047 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1227.673127227125, + -864.2479419058768, + 31.651401750590047 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1226.173127227125, + -861.6498656945234, + 31.651401750590047 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1224.673127227125, + -859.0517894831701, + 31.651401750590047 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1223.173127227125, + -856.4537132718167, + 31.651401750590047 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1221.673127227125, + -853.8556370604633, + 31.651401750590047 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1220.173127227125, + -851.25756084911, + 31.651401750590047 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1218.673127227125, + -848.6594846377566, + 31.651401750590047 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1217.173127227125, + -846.0614084264032, + 31.651401750590047 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1215.673127227125, + -843.4633322150498, + 31.651401750590047 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1214.173127227125, + -840.8652560036965, + 31.651401750590047 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1212.673127227125, + -838.2671797923431, + 31.651401750590047 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1211.173127227125, + -835.6691035809897, + 31.651401750590047 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1209.673127227125, + -833.0710273696363, + 31.651401750590047 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1208.173127227125, + -830.472951158283, + 31.651401750590047 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1208.173127227125, + -830.472951158283, + 31.651401750590047 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1208.173127227125, + -827.472951158283, + 31.651401750590047 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1208.173127227125, + -824.472951158283, + 31.651401750590047 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1208.173127227125, + -821.472951158283, + 31.651401750590047 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1208.173127227125, + -818.472951158283, + 31.651401750590047 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1208.173127227125, + -815.472951158283, + 31.651401750590047 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1208.173127227125, + -812.472951158283, + 31.651401750590047 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1208.173127227125, + -809.472951158283, + 31.651401750590047 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1208.173127227125, + -806.472951158283, + 31.651401750590047 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1208.173127227125, + -803.472951158283, + 31.651401750590047 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1208.173127227125, + -800.472951158283, + 31.651401750590047 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1208.173127227125, + -797.472951158283, + 31.651401750590047 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1208.173127227125, + -794.472951158283, + 31.651401750590047 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1208.173127227125, + -791.472951158283, + 31.651401750590047 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1208.173127227125, + -788.472951158283, + 31.651401750590047 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1208.173127227125, + -785.472951158283, + 31.651401750590047 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1208.173127227125, + -782.472951158283, + 31.651401750590047 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1208.173127227125, + -779.472951158283, + 31.651401750590047 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1208.173127227125, + -776.472951158283, + 31.651401750590047 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1208.173127227125, + -773.472951158283, + 31.651401750590047 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1208.173127227125, + -770.472951158283, + 31.651401750590047 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1208.173127227125, + -767.472951158283, + 31.651401750590047 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1208.173127227125, + -764.472951158283, + 31.651401750590047 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1208.173127227125, + -761.472951158283, + 31.651401750590047 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1208.173127227125, + -761.472951158283, + 31.651401750590047 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1208.173127227125, + -761.472951158283, + 31.651401750590047 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1205.5750510157716, + -759.972951158283, + 31.651401750590047 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1202.9769748044182, + -758.472951158283, + 31.651401750590047 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1200.3788985930648, + -756.972951158283, + 31.651401750590047 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1188.0, + -716.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_6-55-58_1139352160/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_6-55-58_1139352160/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3e02105590e906c9f743d490566e75f625042f61 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_6-55-58_1139352160/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1635.7721945780233, + -1314.5722463613988, + 33.82646134114697 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1634.2721945780233, + -1317.1703225727522, + 33.82646134114697 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1634.2721945780233, + -1317.1703225727522, + 33.82646134114697 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1634.2721945780233, + -1317.1703225727522, + 33.82646134114697 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1635.7721945780233, + -1319.7683987841056, + 33.82646134114697 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1637.2721945780233, + -1322.366474995459, + 33.82646134114697 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1638.7721945780233, + -1324.9645512068123, + 33.82646134114697 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1640.2721945780233, + -1327.5626274181657, + 33.82646134114697 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1641.7721945780233, + -1330.160703629519, + 33.82646134114697 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1643.2721945780233, + -1332.7587798408724, + 33.82646134114697 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1644.7721945780233, + -1335.3568560522258, + 33.82646134114697 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1646.2721945780233, + -1337.9549322635792, + 33.82646134114697 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1647.7721945780233, + -1340.5530084749325, + 33.82646134114697 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1649.2721945780233, + -1343.151084686286, + 33.82646134114697 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1650.7721945780233, + -1345.7491608976393, + 33.82646134114697 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1652.2721945780233, + -1348.3472371089927, + 33.82646134114697 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1652.2721945780233, + -1348.3472371089927, + 33.82646134114697 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1652.2721945780233, + -1351.3472371089927, + 33.82646134114697 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1652.2721945780233, + -1354.3472371089927, + 33.82646134114697 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1652.2721945780233, + -1357.3472371089927, + 33.82646134114697 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1652.2721945780233, + -1360.3472371089927, + 33.82646134114697 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1652.2721945780233, + -1363.3472371089927, + 33.82646134114697 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1652.2721945780233, + -1366.3472371089927, + 33.82646134114697 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1652.2721945780233, + -1369.3472371089927, + 33.82646134114697 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1652.2721945780233, + -1372.3472371089927, + 33.82646134114697 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1652.2721945780233, + -1375.3472371089927, + 33.82646134114697 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1652.2721945780233, + -1378.3472371089927, + 33.82646134114697 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1652.2721945780233, + -1381.3472371089927, + 33.82646134114697 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1652.2721945780233, + -1384.3472371089927, + 33.82646134114697 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1652.2721945780233, + -1387.3472371089927, + 33.82646134114697 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1652.2721945780233, + -1390.3472371089927, + 33.82646134114697 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1652.2721945780233, + -1393.3472371089927, + 33.82646134114697 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1652.2721945780233, + -1396.3472371089927, + 33.82646134114697 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1652.2721945780233, + -1399.3472371089927, + 33.82646134114697 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1652.2721945780233, + -1402.3472371089927, + 33.82646134114697 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1652.2721945780233, + -1405.3472371089927, + 33.82646134114697 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1652.2721945780233, + -1405.3472371089927, + 33.82646134114697 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1650.7721945780233, + -1407.945313320346, + 33.82646134114697 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1649.2721945780233, + -1410.5433895316994, + 33.82646134114697 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1647.7721945780233, + -1413.1414657430528, + 33.82646134114697 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1646.2721945780233, + -1415.7395419544061, + 33.82646134114697 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1644.7721945780233, + -1418.3376181657595, + 33.82646134114697 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1643.2721945780233, + -1420.935694377113, + 33.82646134114697 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1641.7721945780233, + -1423.5337705884663, + 33.82646134114697 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1640.2721945780233, + -1426.1318467998196, + 33.82646134114697 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1638.7721945780233, + -1428.729923011173, + 33.82646134114697 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1637.2721945780233, + -1431.3279992225264, + 33.82646134114697 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1635.7721945780233, + -1433.9260754338798, + 33.82646134114697 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1634.2721945780233, + -1436.5241516452331, + 33.82646134114697 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1632.7721945780233, + -1439.1222278565865, + 33.82646134114697 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1631.2721945780233, + -1441.7203040679399, + 33.82646134114697 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1629.7721945780233, + -1444.3183802792933, + 33.82646134114697 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1628.0, + -1476.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_7-11-23_1881049613/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_7-11-23_1881049613/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9f396e5eb1c20e53babc2c978832a3f61648438c --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_7-11-23_1881049613/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1684.0294227321701, + -643.7772183724933, + 38.606434726785324 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1685.5294227321701, + -646.3752945838467, + 38.606434726785324 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1687.0294227321701, + -648.9733707952, + 38.606434726785324 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1688.5294227321701, + -651.5714470065534, + 38.606434726785324 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1690.0294227321701, + -654.1695232179068, + 38.606434726785324 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1691.5294227321701, + -656.7675994292601, + 38.606434726785324 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1693.0294227321701, + -659.3656756406135, + 38.606434726785324 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1694.5294227321701, + -661.9637518519669, + 38.606434726785324 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1696.0294227321701, + -664.5618280633203, + 38.606434726785324 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1697.5294227321701, + -667.1599042746736, + 38.606434726785324 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1699.0294227321701, + -669.757980486027, + 38.606434726785324 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1700.5294227321701, + -672.3560566973804, + 38.606434726785324 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1702.0294227321701, + -674.9541329087338, + 38.606434726785324 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1703.5294227321701, + -677.5522091200871, + 38.606434726785324 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1705.0294227321701, + -680.1502853314405, + 38.606434726785324 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1706.5294227321701, + -682.7483615427939, + 38.606434726785324 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1708.0294227321701, + -685.3464377541472, + 38.606434726785324 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1709.5294227321701, + -687.9445139655006, + 38.606434726785324 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1711.0294227321701, + -690.542590176854, + 38.606434726785324 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1712.5294227321701, + -693.1406663882074, + 38.606434726785324 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1714.0294227321701, + -695.7387425995607, + 38.606434726785324 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1715.5294227321701, + -698.3368188109141, + 38.606434726785324 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1717.0294227321701, + -700.9348950222675, + 38.606434726785324 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1718.5294227321701, + -703.5329712336209, + 38.606434726785324 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1720.0294227321701, + -706.1310474449742, + 38.606434726785324 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1721.5294227321701, + -708.7291236563276, + 38.606434726785324 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1723.0294227321701, + -711.327199867681, + 38.606434726785324 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1724.5294227321701, + -713.9252760790343, + 38.606434726785324 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1724.5294227321701, + -713.9252760790343, + 38.606434726785324 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1724.5294227321701, + -716.9252760790343, + 38.606434726785324 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1724.5294227321701, + -719.9252760790343, + 38.606434726785324 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1724.5294227321701, + -722.9252760790343, + 38.606434726785324 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1724.5294227321701, + -725.9252760790343, + 38.606434726785324 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1724.5294227321701, + -728.9252760790343, + 38.606434726785324 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1724.5294227321701, + -731.9252760790343, + 38.606434726785324 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1724.5294227321701, + -734.9252760790343, + 38.606434726785324 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1724.5294227321701, + -737.9252760790343, + 38.606434726785324 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1724.5294227321701, + -740.9252760790343, + 38.606434726785324 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1724.5294227321701, + -743.9252760790343, + 38.606434726785324 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1724.5294227321701, + -746.9252760790343, + 38.606434726785324 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1724.5294227321701, + -746.9252760790343, + 38.606434726785324 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1726.0294227321701, + -749.5233522903877, + 38.606434726785324 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1727.5294227321701, + -752.1214285017411, + 38.606434726785324 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1729.0294227321701, + -754.7195047130945, + 38.606434726785324 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1730.5294227321701, + -757.3175809244478, + 38.606434726785324 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1730.5294227321701, + -757.3175809244478, + 38.606434726785324 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1733.1274989435235, + -758.8175809244478, + 38.606434726785324 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1735.7255751548769, + -760.3175809244478, + 38.606434726785324 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1738.3236513662303, + -761.8175809244478, + 38.606434726785324 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1752.0, + -788.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_7-36-24_240854387/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_7-36-24_240854387/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..171643a4f3d9c4daf601bb369b8d411ba6725732 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_7-36-24_240854387/pose.jsonl @@ -0,0 +1,548 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 672.9681992652054, + 1710.1467506957642, + 36.43863121443345 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 674.4681992652054, + 1712.7448269071176, + 36.43863121443345 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 675.9681992652054, + 1715.342903118471, + 36.43863121443345 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 677.4681992652054, + 1717.9409793298244, + 36.43863121443345 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 678.9681992652054, + 1720.5390555411777, + 36.43863121443345 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 680.4681992652054, + 1723.137131752531, + 36.43863121443345 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 681.9681992652054, + 1725.7352079638845, + 36.43863121443345 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 683.4681992652054, + 1728.3332841752378, + 36.43863121443345 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 683.4681992652054, + 1728.3332841752378, + 36.43863121443345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 686.0662754765588, + 1729.8332841752378, + 36.43863121443345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 688.6643516879121, + 1731.3332841752378, + 36.43863121443345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 691.2624278992655, + 1732.8332841752378, + 36.43863121443345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 693.8605041106189, + 1734.3332841752378, + 36.43863121443345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 696.4585803219722, + 1735.8332841752378, + 36.43863121443345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 699.0566565333256, + 1737.3332841752378, + 36.43863121443345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 701.654732744679, + 1738.8332841752378, + 36.43863121443345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 704.2528089560324, + 1740.3332841752378, + 36.43863121443345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 706.8508851673857, + 1741.8332841752378, + 36.43863121443345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 709.4489613787391, + 1743.3332841752378, + 36.43863121443345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 712.0470375900925, + 1744.8332841752378, + 36.43863121443345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 714.6451138014459, + 1746.3332841752378, + 36.43863121443345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 717.2431900127992, + 1747.8332841752378, + 36.43863121443345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 719.8412662241526, + 1749.3332841752378, + 36.43863121443345 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 719.8412662241526, + 1749.3332841752378, + 36.43863121443345 + ], + "type": "turn left", + "value": 30, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 719.8412662241526, + 1749.3332841752378, + 36.43863121443345 + ], + "type": "go straight", + "value": 3, + "yaw": 1.570796326794887 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 719.8412662241526, + 1752.3332841752378, + 36.43863121443345 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 719.8412662241526, + 1755.3332841752378, + 36.43863121443345 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 719.8412662241526, + 1758.3332841752378, + 36.43863121443345 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 719.8412662241526, + 1761.3332841752378, + 36.43863121443345 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 719.8412662241526, + 1764.3332841752378, + 36.43863121443345 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 719.8412662241526, + 1767.3332841752378, + 36.43863121443345 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 719.8412662241526, + 1770.3332841752378, + 36.43863121443345 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 719.8412662241526, + 1773.3332841752378, + 36.43863121443345 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 719.8412662241526, + 1776.3332841752378, + 36.43863121443345 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 719.8412662241526, + 1779.3332841752378, + 36.43863121443345 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 719.8412662241526, + 1782.3332841752378, + 36.43863121443345 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 719.8412662241526, + 1785.3332841752378, + 36.43863121443345 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 719.8412662241526, + 1788.3332841752378, + 36.43863121443345 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 719.8412662241526, + 1791.3332841752378, + 36.43863121443345 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 719.8412662241526, + 1794.3332841752378, + 36.43863121443345 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 719.8412662241526, + 1797.3332841752378, + 36.43863121443345 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 744.0, + 1844.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_7-53-41_573556837/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_7-53-41_573556837/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..31ef97a379a8bfe5b77ee22b2e02f2946ef2c5e7 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_7-53-41_573556837/pose.jsonl @@ -0,0 +1,743 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1397.7470570157723, + -433.9689279017022, + 35.129807148392544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1394.7470570157723, + -433.9689279017022, + 35.129807148392544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1391.7470570157723, + -433.9689279017022, + 35.129807148392544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1388.7470570157723, + -433.9689279017022, + 35.129807148392544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1385.7470570157723, + -433.9689279017022, + 35.129807148392544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1382.7470570157723, + -433.9689279017022, + 35.129807148392544 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1382.7470570157723, + -433.9689279017022, + 35.129807148392544 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1380.148980804419, + -435.4689279017022, + 35.129807148392544 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1377.5509045930655, + -436.9689279017022, + 35.129807148392544 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1377.5509045930655, + -436.9689279017022, + 35.129807148392544 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1376.0509045930655, + -439.56700411305553, + 35.129807148392544 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1374.5509045930655, + -442.16508032440885, + 35.129807148392544 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1373.0509045930655, + -444.76315653576216, + 35.129807148392544 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1371.5509045930655, + -447.3612327471155, + 35.129807148392544 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1370.0509045930655, + -449.9593089584688, + 35.129807148392544 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1368.5509045930655, + -452.5573851698221, + 35.129807148392544 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1368.5509045930655, + -452.5573851698221, + 35.129807148392544 + ], + "type": "turn left", + "value": 30, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1368.5509045930655, + -452.5573851698221, + 35.129807148392544 + ], + "type": "go straight", + "value": 3, + "yaw": -2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1365.5509045930655, + -452.5573851698221, + 35.129807148392544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1362.5509045930655, + -452.5573851698221, + 35.129807148392544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1359.5509045930655, + -452.5573851698221, + 35.129807148392544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1356.5509045930655, + -452.5573851698221, + 35.129807148392544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1353.5509045930655, + -452.5573851698221, + 35.129807148392544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1350.5509045930655, + -452.5573851698221, + 35.129807148392544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1347.5509045930655, + -452.5573851698221, + 35.129807148392544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1344.5509045930655, + -452.5573851698221, + 35.129807148392544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1341.5509045930655, + -452.5573851698221, + 35.129807148392544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1338.5509045930655, + -452.5573851698221, + 35.129807148392544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1335.5509045930655, + -452.5573851698221, + 35.129807148392544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1332.5509045930655, + -452.5573851698221, + 35.129807148392544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1329.5509045930655, + -452.5573851698221, + 35.129807148392544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1326.5509045930655, + -452.5573851698221, + 35.129807148392544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1323.5509045930655, + -452.5573851698221, + 35.129807148392544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1320.5509045930655, + -452.5573851698221, + 35.129807148392544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1317.5509045930655, + -452.5573851698221, + 35.129807148392544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1314.5509045930655, + -452.5573851698221, + 35.129807148392544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1311.5509045930655, + -452.5573851698221, + 35.129807148392544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1308.5509045930655, + -452.5573851698221, + 35.129807148392544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1305.5509045930655, + -452.5573851698221, + 35.129807148392544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1302.5509045930655, + -452.5573851698221, + 35.129807148392544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1299.5509045930655, + -452.5573851698221, + 35.129807148392544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1296.5509045930655, + -452.5573851698221, + 35.129807148392544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1293.5509045930655, + -452.5573851698221, + 35.129807148392544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1290.5509045930655, + -452.5573851698221, + 35.129807148392544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1287.5509045930655, + -452.5573851698221, + 35.129807148392544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1284.5509045930655, + -452.5573851698221, + 35.129807148392544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1281.5509045930655, + -452.5573851698221, + 35.129807148392544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1278.5509045930655, + -452.5573851698221, + 35.129807148392544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1275.5509045930655, + -452.5573851698221, + 35.129807148392544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1272.5509045930655, + -452.5573851698221, + 35.129807148392544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -1269.5509045930655, + -452.5573851698221, + 35.129807148392544 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -1269.5509045930655, + -452.5573851698221, + 35.129807148392544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -1266.9528283817122, + -451.0573851698221, + 35.129807148392544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -1264.3547521703588, + -449.5573851698221, + 35.129807148392544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -1261.7566759590054, + -448.0573851698221, + 35.129807148392544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -1259.158599747652, + -446.5573851698221, + 35.129807148392544 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1240.0, + -448.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_8-33-20_144874089/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_8-33-20_144874089/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..34f083713c34e117433460221ada750ec6c141ea --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_8-33-20_144874089/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1157.203784032785, + -1139.2542315766093, + 31.334801497425158 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1155.703784032785, + -1136.656155365256, + 31.334801497425158 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1154.203784032785, + -1134.0580791539026, + 31.334801497425158 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1152.703784032785, + -1131.4600029425492, + 31.334801497425158 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1151.203784032785, + -1128.8619267311958, + 31.334801497425158 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1149.703784032785, + -1126.2638505198424, + 31.334801497425158 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1148.203784032785, + -1123.665774308489, + 31.334801497425158 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1146.703784032785, + -1121.0676980971357, + 31.334801497425158 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1145.203784032785, + -1118.4696218857823, + 31.334801497425158 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1143.703784032785, + -1115.871545674429, + 31.334801497425158 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1142.203784032785, + -1113.2734694630756, + 31.334801497425158 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1140.703784032785, + -1110.6753932517222, + 31.334801497425158 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1139.203784032785, + -1108.0773170403688, + 31.334801497425158 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1137.703784032785, + -1105.4792408290155, + 31.334801497425158 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1136.203784032785, + -1102.881164617662, + 31.334801497425158 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1134.703784032785, + -1100.2830884063087, + 31.334801497425158 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1133.203784032785, + -1097.6850121949553, + 31.334801497425158 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1131.703784032785, + -1095.086935983602, + 31.334801497425158 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1130.203784032785, + -1092.4888597722486, + 31.334801497425158 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1128.703784032785, + -1089.8907835608952, + 31.334801497425158 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1127.203784032785, + -1087.2927073495418, + 31.334801497425158 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1125.703784032785, + -1084.6946311381885, + 31.334801497425158 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1124.203784032785, + -1082.096554926835, + 31.334801497425158 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1122.703784032785, + -1079.4984787154817, + 31.334801497425158 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1121.203784032785, + -1076.9004025041284, + 31.334801497425158 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1119.703784032785, + -1074.302326292775, + 31.334801497425158 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1118.203784032785, + -1071.7042500814216, + 31.334801497425158 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1116.703784032785, + -1069.1061738700682, + 31.334801497425158 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1115.203784032785, + -1066.5080976587149, + 31.334801497425158 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1113.703784032785, + -1063.9100214473615, + 31.334801497425158 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1112.203784032785, + -1061.3119452360081, + 31.334801497425158 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1110.703784032785, + -1058.7138690246547, + 31.334801497425158 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1109.203784032785, + -1056.1157928133014, + 31.334801497425158 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1107.703784032785, + -1053.517716601948, + 31.334801497425158 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1107.703784032785, + -1053.517716601948, + 31.334801497425158 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1105.1057078214317, + -1052.017716601948, + 31.334801497425158 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1102.5076316100783, + -1050.517716601948, + 31.334801497425158 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1099.909555398725, + -1049.017716601948, + 31.334801497425158 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1097.3114791873716, + -1047.517716601948, + 31.334801497425158 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1094.7134029760182, + -1046.017716601948, + 31.334801497425158 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1092.1153267646648, + -1044.517716601948, + 31.334801497425158 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1089.5172505533114, + -1043.017716601948, + 31.334801497425158 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1086.919174341958, + -1041.517716601948, + 31.334801497425158 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1084.3210981306047, + -1040.017716601948, + 31.334801497425158 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1081.7230219192513, + -1038.517716601948, + 31.334801497425158 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1079.124945707898, + -1037.017716601948, + 31.334801497425158 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1076.5268694965446, + -1035.517716601948, + 31.334801497425158 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1073.9287932851912, + -1034.017716601948, + 31.334801497425158 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1071.3307170738378, + -1032.517716601948, + 31.334801497425158 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1071.3307170738378, + -1032.517716601948, + 31.334801497425158 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -1069.8307170738378, + -1029.9196403905946, + 31.334801497425158 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -1068.3307170738378, + -1027.3215641792412, + 31.334801497425158 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -1066.8307170738378, + -1024.7234879678879, + 31.334801497425158 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1048.0, + -1004.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_8-5-14_305564045/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_8-5-14_305564045/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ff50d38b4afd9e88d81cc2bce6f8adee2bbd4a01 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_8-5-14_305564045/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 754.0451370346493, + 1734.5795361617743, + 36.749550079248806 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 751.4470608232959, + 1736.0795361617743, + 36.749550079248806 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 748.8489846119426, + 1737.5795361617743, + 36.749550079248806 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 746.2509084005892, + 1739.0795361617743, + 36.749550079248806 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 743.6528321892358, + 1740.5795361617743, + 36.749550079248806 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 741.0547559778825, + 1742.0795361617743, + 36.749550079248806 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 738.4566797665291, + 1743.5795361617743, + 36.749550079248806 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 735.8586035551757, + 1745.0795361617743, + 36.749550079248806 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 733.2605273438223, + 1746.5795361617743, + 36.749550079248806 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 730.662451132469, + 1748.0795361617743, + 36.749550079248806 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 728.0643749211156, + 1749.5795361617743, + 36.749550079248806 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 725.4662987097622, + 1751.0795361617743, + 36.749550079248806 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 725.4662987097622, + 1751.0795361617743, + 36.749550079248806 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 722.4662987097622, + 1751.0795361617743, + 36.749550079248806 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 719.4662987097622, + 1751.0795361617743, + 36.749550079248806 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 716.4662987097622, + 1751.0795361617743, + 36.749550079248806 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 713.4662987097622, + 1751.0795361617743, + 36.749550079248806 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 710.4662987097622, + 1751.0795361617743, + 36.749550079248806 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 707.4662987097622, + 1751.0795361617743, + 36.749550079248806 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 704.4662987097622, + 1751.0795361617743, + 36.749550079248806 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 701.4662987097622, + 1751.0795361617743, + 36.749550079248806 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 698.4662987097622, + 1751.0795361617743, + 36.749550079248806 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 695.4662987097622, + 1751.0795361617743, + 36.749550079248806 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 692.4662987097622, + 1751.0795361617743, + 36.749550079248806 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 689.4662987097622, + 1751.0795361617743, + 36.749550079248806 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 686.4662987097622, + 1751.0795361617743, + 36.749550079248806 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 683.4662987097622, + 1751.0795361617743, + 36.749550079248806 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 680.4662987097622, + 1751.0795361617743, + 36.749550079248806 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 677.4662987097622, + 1751.0795361617743, + 36.749550079248806 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 674.4662987097622, + 1751.0795361617743, + 36.749550079248806 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 671.4662987097622, + 1751.0795361617743, + 36.749550079248806 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 668.4662987097622, + 1751.0795361617743, + 36.749550079248806 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 665.4662987097622, + 1751.0795361617743, + 36.749550079248806 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 665.4662987097622, + 1751.0795361617743, + 36.749550079248806 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 662.8682224984088, + 1752.5795361617743, + 36.749550079248806 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 660.2701462870555, + 1754.0795361617743, + 36.749550079248806 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 657.6720700757021, + 1755.5795361617743, + 36.749550079248806 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 655.0739938643487, + 1757.0795361617743, + 36.749550079248806 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 652.4759176529953, + 1758.5795361617743, + 36.749550079248806 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 649.877841441642, + 1760.0795361617743, + 36.749550079248806 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 647.2797652302886, + 1761.5795361617743, + 36.749550079248806 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 644.6816890189352, + 1763.0795361617743, + 36.749550079248806 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 642.0836128075819, + 1764.5795361617743, + 36.749550079248806 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 639.4855365962285, + 1766.0795361617743, + 36.749550079248806 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 636.8874603848751, + 1767.5795361617743, + 36.749550079248806 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 592.0, + 1780.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_8-55-6_956134158/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_8-55-6_956134158/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..42c933f5911460f06758e5547593b92c6ef44d0b --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_8-55-6_956134158/pose.jsonl @@ -0,0 +1,418 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -896.146973150821, + 1270.1822265866838, + 39.75507852737864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -893.146973150821, + 1270.1822265866838, + 39.75507852737864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -890.146973150821, + 1270.1822265866838, + 39.75507852737864 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -890.146973150821, + 1270.1822265866838, + 39.75507852737864 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -890.146973150821, + 1270.1822265866838, + 39.75507852737864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -888.646973150821, + 1272.7803027980372, + 39.75507852737864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -887.146973150821, + 1275.3783790093905, + 39.75507852737864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -885.646973150821, + 1277.976455220744, + 39.75507852737864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -884.146973150821, + 1280.5745314320973, + 39.75507852737864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -882.646973150821, + 1283.1726076434506, + 39.75507852737864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -881.146973150821, + 1285.770683854804, + 39.75507852737864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -879.646973150821, + 1288.3687600661574, + 39.75507852737864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -878.146973150821, + 1290.9668362775108, + 39.75507852737864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -876.646973150821, + 1293.5649124888641, + 39.75507852737864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -875.146973150821, + 1296.1629887002175, + 39.75507852737864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -873.646973150821, + 1298.7610649115709, + 39.75507852737864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -872.146973150821, + 1301.3591411229243, + 39.75507852737864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -870.646973150821, + 1303.9572173342776, + 39.75507852737864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -869.146973150821, + 1306.555293545631, + 39.75507852737864 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -869.146973150821, + 1306.555293545631, + 39.75507852737864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -866.5488969394678, + 1308.055293545631, + 39.75507852737864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -863.9508207281144, + 1309.555293545631, + 39.75507852737864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -861.352744516761, + 1311.055293545631, + 39.75507852737864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -858.7546683054077, + 1312.555293545631, + 39.75507852737864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -856.1565920940543, + 1314.055293545631, + 39.75507852737864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -853.5585158827009, + 1315.555293545631, + 39.75507852737864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -850.9604396713476, + 1317.055293545631, + 39.75507852737864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -848.3623634599942, + 1318.555293545631, + 39.75507852737864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -845.7642872486408, + 1320.055293545631, + 39.75507852737864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -843.1662110372874, + 1321.555293545631, + 39.75507852737864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -840.5681348259341, + 1323.055293545631, + 39.75507852737864 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -772.0, + 1388.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_9-32-48_107939561/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_9-32-48_107939561/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..aeda1a9366daed8bec7e50ae92886988c18d20ac --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_9-32-48_107939561/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1125.6279538884075, + -462.67793613389597, + 38.70631796313824 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1127.1279538884075, + -465.2760123452493, + 38.70631796313824 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1127.1279538884075, + -465.2760123452493, + 38.70631796313824 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1129.726030099761, + -466.7760123452493, + 38.70631796313824 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1132.3241063111143, + -468.2760123452493, + 38.70631796313824 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1132.3241063111143, + -468.2760123452493, + 38.70631796313824 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1133.8241063111143, + -470.8740885566026, + 38.70631796313824 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1135.3241063111143, + -473.4721647679559, + 38.70631796313824 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1136.8241063111143, + -476.07024097930923, + 38.70631796313824 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1138.3241063111143, + -478.66831719066255, + 38.70631796313824 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1139.8241063111143, + -481.26639340201586, + 38.70631796313824 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1141.3241063111143, + -483.8644696133692, + 38.70631796313824 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1142.8241063111143, + -486.4625458247225, + 38.70631796313824 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1144.3241063111143, + -489.0606220360758, + 38.70631796313824 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1145.8241063111143, + -491.65869824742913, + 38.70631796313824 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1147.3241063111143, + -494.25677445878244, + 38.70631796313824 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1148.8241063111143, + -496.85485067013576, + 38.70631796313824 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1150.3241063111143, + -499.4529268814891, + 38.70631796313824 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1150.3241063111143, + -499.4529268814891, + 38.70631796313824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1150.3241063111143, + -502.4529268814891, + 38.70631796313824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1150.3241063111143, + -505.4529268814891, + 38.70631796313824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1150.3241063111143, + -508.4529268814891, + 38.70631796313824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1150.3241063111143, + -511.4529268814891, + 38.70631796313824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1150.3241063111143, + -514.452926881489, + 38.70631796313824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1150.3241063111143, + -517.452926881489, + 38.70631796313824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1150.3241063111143, + -520.452926881489, + 38.70631796313824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1150.3241063111143, + -523.452926881489, + 38.70631796313824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1150.3241063111143, + -526.452926881489, + 38.70631796313824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1150.3241063111143, + -529.452926881489, + 38.70631796313824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1150.3241063111143, + -532.452926881489, + 38.70631796313824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1150.3241063111143, + -535.452926881489, + 38.70631796313824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1150.3241063111143, + -538.452926881489, + 38.70631796313824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1150.3241063111143, + -541.452926881489, + 38.70631796313824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1150.3241063111143, + -544.452926881489, + 38.70631796313824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1150.3241063111143, + -547.452926881489, + 38.70631796313824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1150.3241063111143, + -550.452926881489, + 38.70631796313824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1150.3241063111143, + -553.452926881489, + 38.70631796313824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1150.3241063111143, + -556.452926881489, + 38.70631796313824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1150.3241063111143, + -559.452926881489, + 38.70631796313824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1150.3241063111143, + -562.452926881489, + 38.70631796313824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1150.3241063111143, + -565.452926881489, + 38.70631796313824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1150.3241063111143, + -568.452926881489, + 38.70631796313824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1150.3241063111143, + -571.452926881489, + 38.70631796313824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1150.3241063111143, + -574.452926881489, + 38.70631796313824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1150.3241063111143, + -577.452926881489, + 38.70631796313824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1150.3241063111143, + -580.452926881489, + 38.70631796313824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1150.3241063111143, + -583.452926881489, + 38.70631796313824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1150.3241063111143, + -586.452926881489, + 38.70631796313824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1150.3241063111143, + -589.452926881489, + 38.70631796313824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1150.3241063111143, + -592.452926881489, + 38.70631796313824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -1150.3241063111143, + -595.452926881489, + 38.70631796313824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -1150.3241063111143, + -598.452926881489, + 38.70631796313824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -1150.3241063111143, + -601.452926881489, + 38.70631796313824 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1156.0, + -632.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_9-4-41_1874960596/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_9-4-41_1874960596/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..666ede2a6516742ed314d96478034033f6fb2632 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_9-4-41_1874960596/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1742.6303100669525, + -532.1231263930263, + 31.389168954826168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1745.2283862783058, + -530.6231263930263, + 31.389168954826168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1747.8264624896592, + -529.1231263930263, + 31.389168954826168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1750.4245387010126, + -527.6231263930263, + 31.389168954826168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1753.022614912366, + -526.1231263930263, + 31.389168954826168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1755.6206911237193, + -524.6231263930263, + 31.389168954826168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1758.2187673350727, + -523.1231263930263, + 31.389168954826168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1760.816843546426, + -521.6231263930263, + 31.389168954826168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1763.4149197577794, + -520.1231263930263, + 31.389168954826168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1766.0129959691328, + -518.6231263930263, + 31.389168954826168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1768.6110721804862, + -517.1231263930263, + 31.389168954826168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1771.2091483918396, + -515.6231263930263, + 31.389168954826168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1773.807224603193, + -514.1231263930263, + 31.389168954826168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1776.4053008145463, + -512.6231263930263, + 31.389168954826168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1779.0033770258997, + -511.12312639302627, + 31.389168954826168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1781.601453237253, + -509.62312639302627, + 31.389168954826168 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1781.601453237253, + -509.62312639302627, + 31.389168954826168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1784.601453237253, + -509.62312639302627, + 31.389168954826168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1787.601453237253, + -509.62312639302627, + 31.389168954826168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1790.601453237253, + -509.62312639302627, + 31.389168954826168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1793.601453237253, + -509.62312639302627, + 31.389168954826168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1796.601453237253, + -509.62312639302627, + 31.389168954826168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1799.601453237253, + -509.62312639302627, + 31.389168954826168 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1884.0, + -480.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_9-43-19_707184680/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_9-43-19_707184680/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..970d12edbc9e2da60f62250c3640a18691c5ed9e --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_9-43-19_707184680/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1528.9448715432645, + -549.0758619410105, + 35.048676265784906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1525.9448715432645, + -549.0758619410105, + 35.048676265784906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1522.9448715432645, + -549.0758619410105, + 35.048676265784906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1519.9448715432645, + -549.0758619410105, + 35.048676265784906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1516.9448715432645, + -549.0758619410105, + 35.048676265784906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1513.9448715432645, + -549.0758619410105, + 35.048676265784906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1510.9448715432645, + -549.0758619410105, + 35.048676265784906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1507.9448715432645, + -549.0758619410105, + 35.048676265784906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1504.9448715432645, + -549.0758619410105, + 35.048676265784906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1501.9448715432645, + -549.0758619410105, + 35.048676265784906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1498.9448715432645, + -549.0758619410105, + 35.048676265784906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1495.9448715432645, + -549.0758619410105, + 35.048676265784906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1492.9448715432645, + -549.0758619410105, + 35.048676265784906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1489.9448715432645, + -549.0758619410105, + 35.048676265784906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1486.9448715432645, + -549.0758619410105, + 35.048676265784906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1483.9448715432645, + -549.0758619410105, + 35.048676265784906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1480.9448715432645, + -549.0758619410105, + 35.048676265784906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1477.9448715432645, + -549.0758619410105, + 35.048676265784906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1474.9448715432645, + -549.0758619410105, + 35.048676265784906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1471.9448715432645, + -549.0758619410105, + 35.048676265784906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1468.9448715432645, + -549.0758619410105, + 35.048676265784906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1465.9448715432645, + -549.0758619410105, + 35.048676265784906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1462.9448715432645, + -549.0758619410105, + 35.048676265784906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1459.9448715432645, + -549.0758619410105, + 35.048676265784906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1456.9448715432645, + -549.0758619410105, + 35.048676265784906 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1456.9448715432645, + -549.0758619410105, + 35.048676265784906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1454.3467953319112, + -547.5758619410105, + 35.048676265784906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1451.7487191205578, + -546.0758619410105, + 35.048676265784906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1449.1506429092044, + -544.5758619410105, + 35.048676265784906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1446.552566697851, + -543.0758619410105, + 35.048676265784906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1443.9544904864977, + -541.5758619410105, + 35.048676265784906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1441.3564142751443, + -540.0758619410105, + 35.048676265784906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1438.758338063791, + -538.5758619410105, + 35.048676265784906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1436.1602618524375, + -537.0758619410105, + 35.048676265784906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1433.5621856410842, + -535.5758619410105, + 35.048676265784906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1430.9641094297308, + -534.0758619410105, + 35.048676265784906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1428.3660332183774, + -532.5758619410105, + 35.048676265784906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1425.767957007024, + -531.0758619410105, + 35.048676265784906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1423.1698807956707, + -529.5758619410105, + 35.048676265784906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1420.5718045843173, + -528.0758619410105, + 35.048676265784906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1417.973728372964, + -526.5758619410105, + 35.048676265784906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1415.3756521616106, + -525.0758619410105, + 35.048676265784906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1412.7775759502572, + -523.5758619410105, + 35.048676265784906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1410.1794997389038, + -522.0758619410105, + 35.048676265784906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1407.5814235275504, + -520.5758619410105, + 35.048676265784906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1404.983347316197, + -519.0758619410105, + 35.048676265784906 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1402.3852711048437, + -517.5758619410105, + 35.048676265784906 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1402.3852711048437, + -517.5758619410105, + 35.048676265784906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1400.8852711048437, + -514.9777857296572, + 35.048676265784906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1399.3852711048437, + -512.3797095183038, + 35.048676265784906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -1397.8852711048437, + -509.7816333069505, + 35.048676265784906 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1368.0, + -500.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_9-46-12_493886463/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_9-46-12_493886463/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bba314acfb3d467ef56a43fb52db17c33d697e85 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_9-46-12_493886463/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1232.2420182504363, + -1279.98415746109, + 32.31832872147528 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1229.643942039083, + -1278.48415746109, + 32.31832872147528 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1227.0458658277296, + -1276.98415746109, + 32.31832872147528 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1224.4477896163762, + -1275.48415746109, + 32.31832872147528 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1221.8497134050228, + -1273.98415746109, + 32.31832872147528 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1219.2516371936695, + -1272.48415746109, + 32.31832872147528 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1216.653560982316, + -1270.98415746109, + 32.31832872147528 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1214.0554847709627, + -1269.48415746109, + 32.31832872147528 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1211.4574085596093, + -1267.98415746109, + 32.31832872147528 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1208.859332348256, + -1266.48415746109, + 32.31832872147528 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1206.2612561369026, + -1264.98415746109, + 32.31832872147528 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1203.6631799255492, + -1263.48415746109, + 32.31832872147528 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1201.0651037141959, + -1261.98415746109, + 32.31832872147528 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1198.4670275028425, + -1260.48415746109, + 32.31832872147528 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1195.868951291489, + -1258.98415746109, + 32.31832872147528 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1193.2708750801357, + -1257.48415746109, + 32.31832872147528 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1190.6727988687824, + -1255.98415746109, + 32.31832872147528 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1188.074722657429, + -1254.48415746109, + 32.31832872147528 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1185.4766464460756, + -1252.98415746109, + 32.31832872147528 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1182.8785702347222, + -1251.48415746109, + 32.31832872147528 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1182.8785702347222, + -1251.48415746109, + 32.31832872147528 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1181.3785702347222, + -1248.8860812497367, + 32.31832872147528 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1179.8785702347222, + -1246.2880050383833, + 32.31832872147528 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1178.3785702347222, + -1243.68992882703, + 32.31832872147528 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1176.8785702347222, + -1241.0918526156765, + 32.31832872147528 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1175.3785702347222, + -1238.4937764043232, + 32.31832872147528 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1173.8785702347222, + -1235.8957001929698, + 32.31832872147528 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1172.3785702347222, + -1233.2976239816164, + 32.31832872147528 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1170.8785702347222, + -1230.699547770263, + 32.31832872147528 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1169.3785702347222, + -1228.1014715589097, + 32.31832872147528 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1167.8785702347222, + -1225.5033953475563, + 32.31832872147528 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1166.3785702347222, + -1222.905319136203, + 32.31832872147528 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1164.8785702347222, + -1220.3072429248496, + 32.31832872147528 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1163.3785702347222, + -1217.7091667134962, + 32.31832872147528 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1161.8785702347222, + -1215.1110905021428, + 32.31832872147528 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1160.3785702347222, + -1212.5130142907894, + 32.31832872147528 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1158.8785702347222, + -1209.914938079436, + 32.31832872147528 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1157.3785702347222, + -1207.3168618680827, + 32.31832872147528 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1155.8785702347222, + -1204.7187856567293, + 32.31832872147528 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1154.3785702347222, + -1202.120709445376, + 32.31832872147528 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1152.8785702347222, + -1199.5226332340226, + 32.31832872147528 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1151.3785702347222, + -1196.9245570226692, + 32.31832872147528 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1149.8785702347222, + -1194.3264808113158, + 32.31832872147528 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1148.3785702347222, + -1191.7284045999625, + 32.31832872147528 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1146.8785702347222, + -1189.130328388609, + 32.31832872147528 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1146.8785702347222, + -1189.130328388609, + 32.31832872147528 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1144.2804940233689, + -1187.630328388609, + 32.31832872147528 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1141.6824178120155, + -1186.130328388609, + 32.31832872147528 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1139.0843416006621, + -1184.630328388609, + 32.31832872147528 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1136.4862653893088, + -1183.130328388609, + 32.31832872147528 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1116.0, + -1164.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_9-54-56_2068224547/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_9-54-56_2068224547/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d75b3da661126138370654f773657ed2828c145a --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_9-54-56_2068224547/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1031.3517087937619, + -907.8018833258642, + 31.17891985594551 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1031.3517087937619, + -910.8018833258642, + 31.17891985594551 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1031.3517087937619, + -913.8018833258642, + 31.17891985594551 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1031.3517087937619, + -916.8018833258642, + 31.17891985594551 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1031.3517087937619, + -919.8018833258642, + 31.17891985594551 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1031.3517087937619, + -922.8018833258642, + 31.17891985594551 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1031.3517087937619, + -925.8018833258642, + 31.17891985594551 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1031.3517087937619, + -928.8018833258642, + 31.17891985594551 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1031.3517087937619, + -931.8018833258642, + 31.17891985594551 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1031.3517087937619, + -934.8018833258642, + 31.17891985594551 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1031.3517087937619, + -937.8018833258642, + 31.17891985594551 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1031.3517087937619, + -940.8018833258642, + 31.17891985594551 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1031.3517087937619, + -943.8018833258642, + 31.17891985594551 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1031.3517087937619, + -946.8018833258642, + 31.17891985594551 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1031.3517087937619, + -949.8018833258642, + 31.17891985594551 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1031.3517087937619, + -952.8018833258642, + 31.17891985594551 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1031.3517087937619, + -955.8018833258642, + 31.17891985594551 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1031.3517087937619, + -958.8018833258642, + 31.17891985594551 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1031.3517087937619, + -961.8018833258642, + 31.17891985594551 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1031.3517087937619, + -964.8018833258642, + 31.17891985594551 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1031.3517087937619, + -964.8018833258642, + 31.17891985594551 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1032.8517087937619, + -967.3999595372175, + 31.17891985594551 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1034.3517087937619, + -969.9980357485708, + 31.17891985594551 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1035.8517087937619, + -972.5961119599242, + 31.17891985594551 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1037.3517087937619, + -975.1941881712776, + 31.17891985594551 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1038.8517087937619, + -977.792264382631, + 31.17891985594551 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1040.3517087937619, + -980.3903405939843, + 31.17891985594551 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1041.8517087937619, + -982.9884168053377, + 31.17891985594551 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1043.3517087937619, + -985.5864930166911, + 31.17891985594551 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1044.8517087937619, + -988.1845692280444, + 31.17891985594551 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1046.3517087937619, + -990.7826454393978, + 31.17891985594551 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1047.8517087937619, + -993.3807216507512, + 31.17891985594551 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1049.3517087937619, + -995.9787978621046, + 31.17891985594551 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1050.8517087937619, + -998.5768740734579, + 31.17891985594551 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1052.3517087937619, + -1001.1749502848113, + 31.17891985594551 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1053.8517087937619, + -1003.7730264961647, + 31.17891985594551 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1055.3517087937619, + -1006.371102707518, + 31.17891985594551 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1056.8517087937619, + -1008.9691789188714, + 31.17891985594551 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1058.3517087937619, + -1011.5672551302248, + 31.17891985594551 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1059.8517087937619, + -1014.1653313415782, + 31.17891985594551 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1061.3517087937619, + -1016.7634075529315, + 31.17891985594551 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1062.8517087937619, + -1019.3614837642849, + 31.17891985594551 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1064.3517087937619, + -1021.9595599756383, + 31.17891985594551 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1065.8517087937619, + -1024.5576361869917, + 31.17891985594551 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1067.3517087937619, + -1027.155712398345, + 31.17891985594551 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1068.8517087937619, + -1029.7537886096984, + 31.17891985594551 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1070.3517087937619, + -1032.3518648210518, + 31.17891985594551 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1071.8517087937619, + -1034.9499410324051, + 31.17891985594551 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1073.3517087937619, + -1037.5480172437585, + 31.17891985594551 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1074.8517087937619, + -1040.146093455112, + 31.17891985594551 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1076.3517087937619, + -1042.7441696664653, + 31.17891985594551 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1077.8517087937619, + -1045.3422458778186, + 31.17891985594551 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1079.3517087937619, + -1047.940322089172, + 31.17891985594551 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1080.8517087937619, + -1050.5383983005254, + 31.17891985594551 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1084.0, + -1064.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_9-57-7_1268409912/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_9-57-7_1268409912/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d352151d5f6ab77c031be8d79a36cb80032e1c02 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_9-57-7_1268409912/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1558.8859626824085, + -728.0473179203752, + 33.60498251275629 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1558.8859626824085, + -725.0473179203752, + 33.60498251275629 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1558.8859626824085, + -722.0473179203752, + 33.60498251275629 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1558.8859626824085, + -719.0473179203752, + 33.60498251275629 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1558.8859626824085, + -716.0473179203752, + 33.60498251275629 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1558.8859626824085, + -713.0473179203752, + 33.60498251275629 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1558.8859626824085, + -710.0473179203752, + 33.60498251275629 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1558.8859626824085, + -707.0473179203752, + 33.60498251275629 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1558.8859626824085, + -704.0473179203752, + 33.60498251275629 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1558.8859626824085, + -701.0473179203752, + 33.60498251275629 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1558.8859626824085, + -698.0473179203752, + 33.60498251275629 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1558.8859626824085, + -695.0473179203752, + 33.60498251275629 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1558.8859626824085, + -692.0473179203752, + 33.60498251275629 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1558.8859626824085, + -689.0473179203752, + 33.60498251275629 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1558.8859626824085, + -686.0473179203752, + 33.60498251275629 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1558.8859626824085, + -683.0473179203752, + 33.60498251275629 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1558.8859626824085, + -680.0473179203752, + 33.60498251275629 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1558.8859626824085, + -677.0473179203752, + 33.60498251275629 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1558.8859626824085, + -674.0473179203752, + 33.60498251275629 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1558.8859626824085, + -671.0473179203752, + 33.60498251275629 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1558.8859626824085, + -668.0473179203752, + 33.60498251275629 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1558.8859626824085, + -665.0473179203752, + 33.60498251275629 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1558.8859626824085, + -662.0473179203752, + 33.60498251275629 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1558.8859626824085, + -659.0473179203752, + 33.60498251275629 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1558.8859626824085, + -656.0473179203752, + 33.60498251275629 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1558.8859626824085, + -653.0473179203752, + 33.60498251275629 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1558.8859626824085, + -650.0473179203752, + 33.60498251275629 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1558.8859626824085, + -647.0473179203752, + 33.60498251275629 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1558.8859626824085, + -644.0473179203752, + 33.60498251275629 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1558.8859626824085, + -641.0473179203752, + 33.60498251275629 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1558.8859626824085, + -638.0473179203752, + 33.60498251275629 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1558.8859626824085, + -635.0473179203752, + 33.60498251275629 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1558.8859626824085, + -632.0473179203752, + 33.60498251275629 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1558.8859626824085, + -629.0473179203752, + 33.60498251275629 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1558.8859626824085, + -629.0473179203752, + 33.60498251275629 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1558.8859626824085, + -629.0473179203752, + 33.60498251275629 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1561.4840388937619, + -627.5473179203752, + 33.60498251275629 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1564.0821151051152, + -626.0473179203752, + 33.60498251275629 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1566.6801913164686, + -624.5473179203752, + 33.60498251275629 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1566.6801913164686, + -624.5473179203752, + 33.60498251275629 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1568.1801913164686, + -621.9492417090219, + 33.60498251275629 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1569.6801913164686, + -619.3511654976685, + 33.60498251275629 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1571.1801913164686, + -616.7530892863151, + 33.60498251275629 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1572.6801913164686, + -614.1550130749617, + 33.60498251275629 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1574.1801913164686, + -611.5569368636084, + 33.60498251275629 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1575.6801913164686, + -608.958860652255, + 33.60498251275629 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1577.1801913164686, + -606.3607844409016, + 33.60498251275629 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1578.6801913164686, + -603.7627082295483, + 33.60498251275629 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1580.1801913164686, + -601.1646320181949, + 33.60498251275629 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1581.6801913164686, + -598.5665558068415, + 33.60498251275629 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1588.0, + -564.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-3_0-25-53_608427746/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-3_0-25-53_608427746/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d21d742d9791d25e0c76eff153c8e48a4b8fcb4b --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-3_0-25-53_608427746/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 206.5461611588389, + -326.8436136645863, + 38.0663336327307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 206.5461611588389, + -323.8436136645863, + 38.0663336327307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 206.5461611588389, + -320.8436136645863, + 38.0663336327307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 206.5461611588389, + -317.8436136645863, + 38.0663336327307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 206.5461611588389, + -314.8436136645863, + 38.0663336327307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 206.5461611588389, + -311.8436136645863, + 38.0663336327307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 206.5461611588389, + -308.8436136645863, + 38.0663336327307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 206.5461611588389, + -305.8436136645863, + 38.0663336327307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 206.5461611588389, + -302.8436136645863, + 38.0663336327307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 206.5461611588389, + -299.8436136645863, + 38.0663336327307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 206.5461611588389, + -296.8436136645863, + 38.0663336327307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 206.5461611588389, + -293.8436136645863, + 38.0663336327307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 206.5461611588389, + -290.8436136645863, + 38.0663336327307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 206.5461611588389, + -287.8436136645863, + 38.0663336327307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 206.5461611588389, + -284.8436136645863, + 38.0663336327307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 206.5461611588389, + -281.8436136645863, + 38.0663336327307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 206.5461611588389, + -278.8436136645863, + 38.0663336327307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 206.5461611588389, + -275.8436136645863, + 38.0663336327307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 206.5461611588389, + -272.8436136645863, + 38.0663336327307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 206.5461611588389, + -269.8436136645863, + 38.0663336327307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 206.5461611588389, + -266.8436136645863, + 38.0663336327307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 206.5461611588389, + -263.8436136645863, + 38.0663336327307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 206.5461611588389, + -260.8436136645863, + 38.0663336327307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 206.5461611588389, + -257.8436136645863, + 38.0663336327307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 206.5461611588389, + -254.84361366458631, + 38.0663336327307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 206.5461611588389, + -251.84361366458631, + 38.0663336327307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 206.5461611588389, + -248.84361366458631, + 38.0663336327307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 206.5461611588389, + -245.84361366458631, + 38.0663336327307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 206.5461611588389, + -242.84361366458631, + 38.0663336327307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 206.5461611588389, + -239.84361366458631, + 38.0663336327307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 206.5461611588389, + -236.84361366458631, + 38.0663336327307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 206.5461611588389, + -233.84361366458631, + 38.0663336327307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 206.5461611588389, + -230.84361366458631, + 38.0663336327307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 206.5461611588389, + -227.84361366458631, + 38.0663336327307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 206.5461611588389, + -224.84361366458631, + 38.0663336327307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 206.5461611588389, + -221.84361366458631, + 38.0663336327307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 206.5461611588389, + -218.84361366458631, + 38.0663336327307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 206.5461611588389, + -215.84361366458631, + 38.0663336327307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 206.5461611588389, + -212.84361366458631, + 38.0663336327307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 206.5461611588389, + -209.84361366458631, + 38.0663336327307 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 206.5461611588389, + -209.84361366458631, + 38.0663336327307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 208.0461611588389, + -207.245537453233, + 38.0663336327307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 209.5461611588389, + -204.64746124187968, + 38.0663336327307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 211.0461611588389, + -202.04938503052637, + 38.0663336327307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 212.5461611588389, + -199.45130881917305, + 38.0663336327307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 214.0461611588389, + -196.85323260781973, + 38.0663336327307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 215.5461611588389, + -194.25515639646642, + 38.0663336327307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 217.0461611588389, + -191.6570801851131, + 38.0663336327307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 218.5461611588389, + -189.0590039737598, + 38.0663336327307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 220.0461611588389, + -186.46092776240647, + 38.0663336327307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 221.5461611588389, + -183.86285155105315, + 38.0663336327307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 223.0461611588389, + -181.26477533969984, + 38.0663336327307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 224.5461611588389, + -178.66669912834652, + 38.0663336327307 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 226.0461611588389, + -176.0686229169932, + 38.0663336327307 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 232.0, + -152.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-3_0-8-29_1600766768/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-3_0-8-29_1600766768/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3ad90f649c8ccfd73860658b9723701349b092b9 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-3_0-8-29_1600766768/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1626.4148319042108, + 103.67362711755058, + 38.50856663411845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1623.8167556928574, + 105.17362711755058, + 38.50856663411845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1621.218679481504, + 106.67362711755058, + 38.50856663411845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1618.6206032701507, + 108.17362711755058, + 38.50856663411845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1616.0225270587973, + 109.67362711755058, + 38.50856663411845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1613.424450847444, + 111.17362711755058, + 38.50856663411845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1610.8263746360906, + 112.67362711755058, + 38.50856663411845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1608.2282984247372, + 114.17362711755058, + 38.50856663411845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1605.6302222133838, + 115.67362711755058, + 38.50856663411845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1603.0321460020305, + 117.17362711755058, + 38.50856663411845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1600.434069790677, + 118.67362711755058, + 38.50856663411845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1597.8359935793237, + 120.17362711755058, + 38.50856663411845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1595.2379173679703, + 121.67362711755058, + 38.50856663411845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1592.639841156617, + 123.17362711755058, + 38.50856663411845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1590.0417649452636, + 124.67362711755058, + 38.50856663411845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1587.4436887339102, + 126.17362711755058, + 38.50856663411845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1584.8456125225568, + 127.67362711755058, + 38.50856663411845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1582.2475363112035, + 129.17362711755058, + 38.50856663411845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1579.64946009985, + 130.67362711755058, + 38.50856663411845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1577.0513838884967, + 132.17362711755058, + 38.50856663411845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1574.4533076771434, + 133.67362711755058, + 38.50856663411845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1571.85523146579, + 135.17362711755058, + 38.50856663411845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1569.2571552544366, + 136.67362711755058, + 38.50856663411845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1566.6590790430832, + 138.17362711755058, + 38.50856663411845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1564.0610028317299, + 139.67362711755058, + 38.50856663411845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1561.4629266203765, + 141.17362711755058, + 38.50856663411845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1558.8648504090231, + 142.67362711755058, + 38.50856663411845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1556.2667741976697, + 144.17362711755058, + 38.50856663411845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1553.6686979863164, + 145.67362711755058, + 38.50856663411845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1551.070621774963, + 147.17362711755058, + 38.50856663411845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1548.4725455636096, + 148.67362711755058, + 38.50856663411845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1545.8744693522563, + 150.17362711755058, + 38.50856663411845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1543.2763931409029, + 151.67362711755058, + 38.50856663411845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1540.6783169295495, + 153.17362711755058, + 38.50856663411845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1538.0802407181961, + 154.67362711755058, + 38.50856663411845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1535.4821645068428, + 156.17362711755058, + 38.50856663411845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1532.8840882954894, + 157.67362711755058, + 38.50856663411845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1530.286012084136, + 159.17362711755058, + 38.50856663411845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1527.6879358727826, + 160.67362711755058, + 38.50856663411845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1525.0898596614293, + 162.17362711755058, + 38.50856663411845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1522.491783450076, + 163.67362711755058, + 38.50856663411845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1519.8937072387225, + 165.17362711755058, + 38.50856663411845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1517.2956310273692, + 166.67362711755058, + 38.50856663411845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1514.6975548160158, + 168.17362711755058, + 38.50856663411845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1512.0994786046624, + 169.67362711755058, + 38.50856663411845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1509.501402393309, + 171.17362711755058, + 38.50856663411845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1506.9033261819557, + 172.67362711755058, + 38.50856663411845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1504.3052499706023, + 174.17362711755058, + 38.50856663411845 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1480.0, + 188.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +}